| 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 actuator is controlled to minimise differences between a current image from the imaging device and the reference image. The present invention employs an imaging device including a micro-lens array, suitable for use in a light-field camera for example, comprising one or more subsets where the centres of the micro-lenses are slightly displaced versus a regular lattice so that each micro lens in each subset has a different offset. The small displacements are preferably defined by characteristic parameters of the light-field camera and in certain embodiments can advantageously be arranged in order to provide an optimal sampling distribution of the projected 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. |
