Image Registration Using the Arithmetic Optimization Algorithm for Robotic Visual Servoing

摘要

Visual servoing using image registration is a method employed in robotics to control the movement of a system using visual information. In this context, we propose a new intensity-based image registration algorithm (IBIR) that uses information derived from images acquired at different times or from different views to determine the parameters of the geometric transformations needed to align these images. The Arithmetic Optimization Algorithm (AOA) is used to optimize these parameters, minimizing the difference between the images to be aligned. The proposed algorithm, Intensity-Based Image Registration via Arithmetic Optimisation Algorithm (IBIRAOA), is robust to image data fluctuations and perturbations and can avoid local optima. Simulation results prove the importance and efficiency of the proposed algorithm in terms of computation time and similarity of aligned images compared to other methods based on various metaheuristics. In addition, our results confirm a significant improvement in the trajectory of the wheeled mobile robot, thus reinforcing the overall effectiveness of our method in practical navigation and robotic control applications.