Monocular vision for pose estimation in space based on cone projection

Mei, Jianping; Zhang, Dian; Ding, Yabin

doi:10.1117/1.oe.56.10.103108

Cited by 13 publications

(6 citation statements)

References 12 publications

(14 reference statements)

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“…The pose measurement method will be compared with Xu’s method (Xu et al , 2012) and Mei’s method (Mei et al , 2017). Xu’s method is binocular measurement.…”

Section: Simulation and Experimental Verificationmentioning

confidence: 99%

“…However, in practical applications, adding auxiliary equipment will greatly increase costs and difficulties in implementing geometric auxiliary conditions, so it is generally not used in engineering applications. Moreover, in the calculation of the pose of circle by the monocular camera, the radius constraint is usually required (Mei et al , 2017).…”

Section: Introductionmentioning

confidence: 99%

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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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“…The pose measurement method will be compared with Xu’s method (Xu et al , 2012) and Mei’s method (Mei et al , 2017). Xu’s method is binocular measurement.…”

Section: Simulation and Experimental Verificationmentioning

confidence: 99%

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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show abstract

“…In our previous work, we proposed an algorithm for estimating the pose of circular marker. 29 The method uses the circular contour obtained by the monocular camera to estimate the pose information of the spatial circle whose radius is known. Firstly, the circular marker has been mapped to be an upright elliptic cone in the pinhole imaging model.…”

Section: D Measurementmentioning

confidence: 99%

Development of a novel mobile robotic system for large-scale manufacturing

Ding

Zhang

Liu

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part B:

Self Cite

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The high demand of efficient large-scale machining operations by concurrently decreasing operating time and costs has led to an increasing usage of mobile robotic systems. This paper introduces a mobile robotic system which is consisted of a hybrid robot named TriMule on an automated guided vehicle, and a fringe-projection-based measurement system. TriMule exhibits desirable performance in terms of rigidity, accuracy, work envelop and reconfigurability. It is therefore suitable to be built on an autonomous platform for multi-station manufacturing in situ. In order to increase the absolute accuracy of the mobile robotic system, the fringe-projection-based measurement system obtains high accuracy and high density cloud to measure the position and orientation of the robot and workpiece in relation to each other. This system is suitable for large-scale manufacturing in situ, drilling, riveting and high-speed milling for example.

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“…Non-cooperative target (i.e., spacecrafts without known markers) pose measurement is a key technology in space junk cleanup and satellite recovery missions. [5][6][7] Currently, the methods of pose measurement for space targets include global positioning system, lidar, microwave radar measurements, and other measurements based on machine vision, etc. Among them, methods based on machine vision-which have advantages such as high accuracy, strong autonomy, low cost, low equipment requirements, low power consumption, small size, and weight-have become important for pose measurements for closerange (within 50 m) targets.…”

Section: Introductionmentioning

confidence: 99%

“…During the clean-up of space debris, a trap is required to obtain the relative position and attitude (collectively referred to as pose) of the debris. Non-cooperative target (i.e., spacecrafts without known markers) pose measurement is a key technology in space junk cleanup and satellite recovery missions 5 – 7 Currently, the methods of pose measurement for space targets include global positioning system, lidar, microwave radar measurements, and other measurements based on machine vision, etc.…”

Section: Introductionmentioning

confidence: 99%

High-precision pose measurement method based on binocular vision in dark lighting environments

Wang

Zhang

et al. 2023

Opt. Eng.

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.Measuring the pose of non-cooperative targets in space is a critical supporting technology for cleaning up space debris and recovering items. However, most existing methods are simulation experiments conducted in good lighting environments and tend to show poor performance in dark lighting environments. A target pose measurement method based on binocular vision is proposed, which is suitable for dark lighting environments. First, the traditional features from accelerated segment test algorithm are improved to reduce the influence of illumination on the performance of feature point extraction under various postures. The point feature and line feature are combined to extract image features more easily in a dark lighting environment while retaining the high accuracy of the pose measurement algorithm based on point features. Second, the normalized cross-correlation coefficient matching method is combined with the epipolar constraint to narrow the search range of the matching points from the two-dimensional plane to the epipolar line, which substantially improves the matching efficiency and accuracy of the matching algorithm. Finally, post-processing through feature matching is performed to reduce the probability of mismatches. Simulation and physical experiment results show that our method can stably extract features and obtain high-precision target pose information in well-illuminated as well as dark lighting environments, making it suitable for high-precision target pose measurement under insufficient illumination.

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Monocular vision for pose estimation in space based on cone projection

Cited by 13 publications

References 12 publications

The general method of the tanker car mouth pose measurement

The general method of the tanker car mouth pose measurement

Development of a novel mobile robotic system for large-scale manufacturing

High-precision pose measurement method based on binocular vision in dark lighting environments

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