Visual Positioning System in Changing Outdoor Environments Based on Kinect
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Yaoqing Weng, and Ying Sun
The visual positioning system of the Kinect camera in a changing outdoor environments where the relative motion of the machine and the target and the machine are affected by external illumination. A double closed-loop control structure based on Kinect camera is established. The speed loop controller is designed by using the output feedback and internal model principle in modern control theory, and the position loop controller is designed by PID principle. Control performance is demonstrated by MATLAB/Simulink simulation control system. This visual servo system helps to improve the feature extraction ability of Kinect in the outdoor environment.
Kinect, Visual servo control, Visual positioning