| 摘要 |
An apparatus comprising a moveable actuator and an imaging device coupled to the actuator, in which the actuator is controlled by visual servoing, based on images from the imaging device and a reference image. The invention employs an imaging device including a micro-lens array, with each micro-lens having its own polarisation filter, with each filter having a different polarising direction. Current images captured by the imaging device are compared to a reference image to create an error image which is then modified to take into account the effects of specular reflection, which are determined by comparing micro-images corresponding to different polarisation directions for the reference image and/or the current image. The actuator is then controlled using the modified error image. Embodiments of the present invention may be employed in so called eye-in-hand cameras which are mounted on or embedded in the actuator of a robotic apparatus. |
