A new approach for measurement of pitch, roll and yaw angles based on a circular feature

Liu, Lei; Zhao, Zhimin

doi:10.1177/0142331212451991

Cited by 6 publications

(4 citation statements)

References 26 publications

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“…There are many studies on the reconstruction and measurement of non-cooperative targets [ 1 , 2 , 3 , 4 , 5 , 6 , 7 , 8 , 9 , 10 , 11 ] or attitude measurement of long symmetric targets based on binocular or multiple stereo vision. There are many kinds of non-cooperative targets to be reconstructed, especially targets in the space, such as satellites and spacecrafts.…”

Section: Introductionmentioning

confidence: 99%

An Accurate Linear Method for 3D Line Reconstruction for Binocular or Multiple View Stereo Vision

Zhong

Qin

Xia

et al. 2021

Sensors

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For the problem of 3D line reconstruction in binocular or multiple view stereo vision, when there are no corresponding points on the line, the method called Direction-then-Point (DtP) can be used, and if there are two pairs of corresponding points on the line, the method called Two Points 3D coordinates (TPS) can be used. However, when there is only one pair of corresponding points on the line, can we get the better accuracy than DtP for 3D line reconstruction? In this paper, a linear and more accurate method called Point-then-Direction (PtD) is proposed. First, we used the intersection method to obtain the 3D point’s coordinate from its corresponding image points. Then, we used this point as a position on the line to calculate the direction of the line by minimizing the image angle residual. PtD is also suitable for multiple camera systems. The simulation results demonstrate that PtD increases the accuracy of both the direction and the position of the 3D line compared to DtP. At the same time, PtD achieves a better result in direction of the 3D line than TPS, but has a lower accuracy in the position of 3D lines than TPS.

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Section: Introductionmentioning

confidence: 99%

An Accurate Linear Method for 3D Line Reconstruction for Binocular or Multiple View Stereo Vision

Zhong

Qin

Xia

et al. 2021

Sensors

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“…The second method is to use the information of the target's structure and then match its projection on the image with the contour extracted from the image. [6][7][8][9][10][11][12][13][14][15][16] Zhao et al 7 proposed a pose estimation algorithm based on the inner angle and the triangle constraint. Liu and Hu 8 gave a pose estimation method based on a monocular image for a rotating solid shape spacecraft that utilized the inherent characteristics of a spacecraft.…”

Section: Introductionmentioning

confidence: 99%

High accuracy linear method for axis measurement

Zhong

Zhang

et al. 2020

Opt. Eng.

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The attitude parameter is an important state parameter for a long axisymmetric target.The plane intersection (PI) method is a commonly used method for attitude estimation. However, this method only uses planes' information in the object space under a multiple camera system (more than two cameras simultaneously observing a target). We propose two methods to address the aforementioned issue. One method involves minimizing the square of the object-space angle residual (OAR) and the other method involves minimizing the square of the image-space angle residual (IAR). The linear optimization method is used for the above minimizing problems. The simulation results demonstrate that the IAR method has higher accuracy than the PI and OAR methods under multiple and dual camera systems because it incorporates information of a pair of corresponding image points. Furthermore, our experiments have shown that the linear method is generally faster, and it has an equivalent accuracy compared to the iterative method. © The Authors. Published by SPIE under a Creative Commons Attribution 4.0 Unported License. Distribution or reproduction of this work in whole or in part requires full attribution of the original publication, including its DOI.

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“…This information is important because the heading angle and the pose are the basis of localization and navigation (Kim et al, 2007). The heading angle is also important to track control techniques (Liu and Zhao, 2013; Shah et al, 2015).…”

Section: Introductionmentioning

confidence: 99%

A novel method for estimating the heading angle for underground Load-Haul-Dump based on Ultra Wideband

Meng

et al. 2017

Transactions of the Institute of Measurement and Control

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This paper presents a system that measures the heading angle of underground Load-Haul-Dump (LHD) based on Ultra Wideband (UWB). The system is composed by two UWB modules. The heading angle gives the predictable information for the vehicle localization. Because of the features of underground mines, many current methods for estimating heading angle have limitations in this situation, such as the absence of Global Positioning System (GPS) and the high cost of the positioning methods based on beacons. The range resolution is proportional to the bandwidth of signal. So, the large system bandwidth of UWB offers high accuracy. We estimate the heading angle by measuring the angle between two UWB modules, which is implemented on LHD. The position error of the two modules directly decides the error of heading angle. This paper analyzes and discusses two-dimensional error in theory. The experimental results demonstrate that it is feasible to use the proposed method for an underground environment.

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A new approach for measurement of pitch, roll and yaw angles based on a circular feature

Cited by 6 publications

References 26 publications

An Accurate Linear Method for 3D Line Reconstruction for Binocular or Multiple View Stereo Vision

An Accurate Linear Method for 3D Line Reconstruction for Binocular or Multiple View Stereo Vision

High accuracy linear method for axis measurement

A novel method for estimating the heading angle for underground Load-Haul-Dump based on Ultra Wideband

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