The structural parameter optimization is investigated in field of binocular vision measuring system for moving platform pose of parallel mechanism. It is required for the measuring system to keep the moving platform motion range in the effective field of view of binocular vision. Therefore, a mathematic description was made firstly for effective field of view and the motion range of platform was analyzed on the basis of parallel mechanism work space. Then a mathematic model was established for measuring system. To improve the measurement accuracy of moving platform pose, the optimization index for structural parameters was defined on the basis of pose measurement error analysis. Finally, optimized structural parameters of measuring system are given by use of enumeration method.Index Terms -Binocular vision; Parallel mechanism; Effective field of view; Mathematical model.
In view of the mission of the cooperative target capture with the space manipulator, this article proposes to establish pose measurement model of the space cooperative target capture based on thick lens model for the first time. First, a ground simulation system is established for the cooperative target capture with the space manipulator based on the zoom vision system, coordinate system is defined, and pose calculation process is given. Then, space coordinate measurement model and pose calculation model are established for the system. Finally, the simulation experiments are conducted and the results validate the algorithm model and the high accuracy of measurement.
Up to present, there have been numerous articles on ellipse detection. However, it is still a great challenge especially for embedded application with restricted available computing and memory resources. To handle this problem, a novel and effective method is presented for ellipse detection. The method consists of two main steps: extraction of elliptic edge contours and edge contours grouping. These two steps are integrated to improve the accuracy and speed of the method. Finally, the aim of this method is to process high-resolution image for embedded system, which needs fast and accurate ellipse detection with limited computational and memory resources.
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