| 摘要 |
A photometric visual servoing (PVS) system acquires image data, e.g. using a camera, and performs photometric visual servoing based on the acquired image data. A masking unit is provided to control defocusing effects in the image data. The mask used can be provided on top of the lens to control the shape of the bokeh. The mask may be a radial gradient absorption mask (fig. 4) or a linear radial mask and may comprise a thin film deposited on the lens. Alternately, the mask may comprise random fully opaque dots where the density of dots increases from 0% at the centre of the mask to 100% at the circular border (see fig. 4a). Having a bokeh without sharp edges as can be produced from such masks makes the edges of larger defocused disks smoother (see fig. 5). Such smoother rings are less disturbing for PVS algorithms. |
