Elliptic shape prior for object 2D-3D pose estimation using circular feature

Cui, Li; Chen, Derong; Gong, Jianya; Wu, Yangyu

doi:10.1186/s13634-020-00691-6

Cited by 3 publications

(2 citation statements)

References 17 publications

(28 reference statements)

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“…The relative pose of the system is measured by the circle of the landing pad, where the pose measurement of the yaw angle is obtained by the elliptic constraint fitted by the letter "H" in the landing pad. Li et al (2020) propose a method to incorporate elliptic shape prior for object pose estimation using a level set method. Using particle filters that consider the motion dynamics of objects in scene frames, this method provides a robust method for 2D to 3D pose estimation of objects using circular features in challenging environments.…”

Section: Introductionmentioning

confidence: 99%

The general method of the tanker car mouth pose measurement

Zhou,

Wang,

Lai

et al. 2023

RIA

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Purpose The coupling process between the loading mechanism and the tank car mouth is a crucial step in the tank car loading process. The purpose of this paper is to design a method to accurately measure the pose of the tanker car. Design/methodology/approach The collected image is first subjected to a gray enhancement operation, and the black parts of the image are extracted using Otsu’s threshold segmentation and morphological processing. The edge pixels are then filtered to remove outliers and noise, and the remaining effective points are used to fit the contour information of the tank car mouth. Using the successfully extracted contour information, the pose information of the tank car mouth in the camera coordinate system is obtained by establishing a binocular projection elliptical cone model, and the pixel position of the real circle center is obtained through the projection section. Finally, the binocular triangulation method is used to determine the position information of the tank car mouth in space. Findings Experimental results have shown that this method for measuring the position and orientation of the tank car mouth is highly accurate and can meet the requirements for industrial loading accuracy. Originality/value A method for extracting the contours of various types of complex tanker mouth is proposed. This method can accurately extract the contour of the tanker mouth when the contour is occluded or disturbed. Based on the binocular elliptic conical model and perspective projection theory, an innovative method for measuring the pose of the tanker mouth is proposed, and according to the space characteristics of the tanker mouth itself, the ambiguity of understanding is removed. This provides a new idea for the automatic loading of ash tank cars.

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Section: Introductionmentioning

confidence: 99%

The general method of the tanker car mouth pose measurement

Zhou,

Wang,

Lai

et al. 2023

RIA

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“…Natural features on uncooperative targets are detected by sensors and the corresponding pose can be obtained by matching them with a benchmark such as a model [11,17]. Natural circle features such as docking ring and nozzle are common attributes of most spacecraft and are more stable compared with point and line features and are used as a reference feature in many missions [6,18,19]. In this paper, the pose estimation does not need the whole model or specific local model and the unique condition is the presence of circle features on the spacecraft.…”

Section: Introductionmentioning

confidence: 99%

Relative Pose Determination of Uncooperative Spacecraft Based on Circle Feature

Liu¹,

Zhang²,

Zhao³

2021

Sensors

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This paper investigates the problem of spacecraft relative navigation with respect to an unknown target during the close-proximity operations in the on-orbit service system. The serving spacecraft is equipped with a Time-of-Flight (ToF) camera for object recognition and feature detection. A fast and robust relative navigation strategy for acquisition is presented without any extra information about the target by using the natural circle features. The architecture of the proposed relative navigation strategy consists of three ingredients. First, a point cloud segmentation method based on the auxiliary gray image is developed for fast extraction of the circle feature point cloud of the target. Secondly, a new parameter fitting method of circle features is proposed including circle feature calculation by two different geometric models and results’ fusion. Finally, a specific definition of the coordinate frame system is introduced to solve the relative pose with respect to the uncooperative target. In order to validate the efficiency of the segmentation, an experimental test is conducted based on real-time image data acquired by the ToF camera. The total time consumption is saved by 94%. In addition, numerical simulations are carried out to evaluate the proposed navigation algorithm. It shows good robustness under the different levels of noises.

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A Closed-Form Solution for Estimating the Accuracy of Circular Feature’ Pose for Object 2D-3D Pose Estimation System

Chen

Gong

et al. 2021

Mathematical Problems in Engineering

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Many objects in the real world have circular feature. In general, circular feature’s pose is represented by 5-DoF (degree of freedom) vector ξ = X , Y , Z , α , β T . It is a difficult task to measure the accuracy of circular feature’s pose in each direction and the correlation between each direction. This paper proposes a closed-form solution for estimating the accuracy of pose transformation of circular feature. The covariance matrix of ξ is used to measure the accuracy of the pose. The relationship between the pose of the circular feature of 3D object and the 2D points is analyzed to yield an implicit function, and then Gauss–Newton theorem is employed to compute the partial derivatives of the function with respect to such point, and after that the covariance matrix is computed from both the 2D points and the extraction error. In addition, the method utilizes the covariance matrix of 5-DoF circular feature’s pose variables to optimize the pose estimator. Based on pose covariance, minimize the mean square error (Min-MSE) metric is introduced to guide good 2D imaging point selection, and the total amount of noise introduced into the pose estimator can be reduced. This work provides an accuracy method for object 2D-3D pose estimation using circular feature. At last, the effectiveness of the method for estimating the accuracy is validated based on both random data sets and synthetic images. Various synthetic image sequences are illustrated to show the performance and advantages of the proposed pose optimization method for estimating circular feature’s pose.

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Elliptic shape prior for object 2D-3D pose estimation using circular feature

Cited by 3 publications

References 17 publications

The general method of the tanker car mouth pose measurement

The general method of the tanker car mouth pose measurement

Relative Pose Determination of Uncooperative Spacecraft Based on Circle Feature

A Closed-Form Solution for Estimating the Accuracy of Circular Feature’ Pose for Object 2D-3D Pose Estimation System

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