Precise monocular vision-based pose measurement system for lunar surface sampling manipulator

Gang, Wang; Shi, Zhongchen; Shang, Yang; Sun, Xiaoliang; Zhang, WenLong; Yu, Qifeng

doi:10.1007/s11431-019-9518-8

Cited by 10 publications

(2 citation statements)

References 27 publications

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“…With the development of image processing and deep learning, visual measurement methods have strong environmental adaptability [ 27 , 28 ]. Vision measurement can be divided into monocular [ 29 , 30 , 31 ] and multi-vision [ 32 , 33 ] measurement systems. The monocular vision measurement system has low hardware complexity and the shooting field of view is large [ 34 , 35 ], but it is difficult to measure the depth accurately [ 36 ].…”

Section: Introductionmentioning

confidence: 99%

Multi-Camera-Based Universal Measurement Method for 6-DOF of Rigid Bodies in World Coordinate System

Zhao

Zhu

et al. 2020

Sensors

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The measurement of six-degrees-of-freedom (6-DOF) of rigid bodies plays an important role in many industries, but it often requires the use of professional instruments and software, or has limitations on the shape of measured objects. In this paper, a 6-DOF measurement method based on multi-camera is proposed, which is accomplished using at least two ordinary cameras and is made available for most morphological rigid bodies. First, multi-camera calibration based on Zhang Zhengyou’s calibration method is introduced. In addition to the intrinsic and extrinsic parameters of cameras, the pose relationship between the camera coordinate system and the world coordinate system can also be obtained. Secondly, the 6-DOF calculation model of proposed method is gradually analyzed by the matrix analysis method. With the help of control points arranged on the rigid body, the 6-DOF of the rigid body can be calculated by the least square method. Finally, the Phantom 3D high-speed photogrammetry system (P3HPS) with an accuracy of 0.1 mm/m was used to evaluate this method. The experiment results show that the average error of the rotational degrees of freedom (DOF) measurement is less than 1.1 deg, and the average error of the movement DOF measurement is less than 0.007 m. In conclusion, the accuracy of the proposed method meets the requirements.

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Section: Introductionmentioning

confidence: 99%

Multi-Camera-Based Universal Measurement Method for 6-DOF of Rigid Bodies in World Coordinate System

Zhao

Zhu

et al. 2020

Sensors

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“…In the mission, the monitoring camera fixed on the upper surface of the ascent vehicle will take pictures during the process of pot dropping. Thus, the monocular vision pose measurement can be used to measure the pose between the packaging container and the sample return container (Wang et al, 2019). At present, monocular vision pose measurement methods are mostly based on point features (Zhang et al, 2018;David et al, 2004;Ning et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

Coaxiality Calculation Method for Dropping Operation of Lunar Surface Sampling Mission Based on Monocular Vision Using Ellipse and Line Features

Wan

Liu

et al. 2020

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

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Abstract. In the lunar surface sampling mission, the drop operation that transferring the packaging container into the sample return container is a vital step. In this paper, for supporting the drop operation, we proposed a method to measure the coaxiality between the two containers based on the monocular vision pose measurement using ellipse and line features. The method first extracts ellipse and line features in the 2D image to calculate the initial parameters. Then, the initial parameters and the point set are used to fit the curve by the cylinder perspective contours fitting method, where the constraints between ellipse and line features are used to improve the robustness to varying noises. Next, given the fitting ellipse and camera parameters, the pose of the packaging container is solved by using circle-based method. Finally, the coaxiality of the two containers is calculated based on the relative pose between them. Simulation experiments were carried out and the results show the effectiveness and reliability of the proposed method.

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FMCW-InISAR imaging for high-speed target based on bistatic configuration

Wang

Rong

Zhang

2020

Sci. China Technol. Sci.

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Precise monocular vision-based pose measurement system for lunar surface sampling manipulator

Cited by 10 publications

References 27 publications

Multi-Camera-Based Universal Measurement Method for 6-DOF of Rigid Bodies in World Coordinate System

Multi-Camera-Based Universal Measurement Method for 6-DOF of Rigid Bodies in World Coordinate System

Coaxiality Calculation Method for Dropping Operation of Lunar Surface Sampling Mission Based on Monocular Vision Using Ellipse and Line Features

FMCW-InISAR imaging for high-speed target based on bistatic configuration

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