Relative Pose Estimation under Monocular Vision in Rendezvous and Docking

Pan, Hui; Jian, Huang; Shi, Qin

doi:10.4028/www.scientific.net/amm.433-435.799

Cited by 3 publications

(4 citation statements)

References 16 publications

(15 reference statements)

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“…References are cited in the text just by square brackets [1]. (If square brackets are not available, slashes may be used instead, e.g.…”

Section: Methodsmentioning

confidence: 99%

“…Relative pose measurement is of great significance to the near distance rendezvous and docking of the orbit spacecraft and the target acquisition of space robot arm [1][2][3]. Image based vision pose measurement technology has high precision, good adaptability, and it is the main method to realize the relative position and posture measurement [4][5][6].…”

Section: Introductionmentioning

confidence: 99%

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Monocular pose measurement method based on circle and line features

Cai¹,

Sun²

2016

Proceedings of the 2nd International Conference on Electronics, Network and Computer Engineering (ICENCE 2016)

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In this paper, a new method based on circle and linear projection is proposed. In a straight line and a circle on the target space as the main object recognition. In the case of knowing the radius of the space circle and coordinate of a point on the space line: First of all, we can use the space circle projection to solve all possible solutions, there are two groups. Secondly, determine the rotation angle of space circle around normal vector in the two groups by using the relative position relation of space straight line and circle. Then, we can get the rotation relation between the object coordinate system and the camera coordinate system and get the coordinate representation of circle and straight line in the camera coordinate system in two groups of solutions. Finally, project the point on the space line onto the image plane in two groups of solutions. In the correct solution, the distance between the projection point and the projection line is small. The experimental results show that the method can find the correct solution in all solutions and determine the rotation angle of the space circle around the normal vector. The method can get the correct result under the condition of noise, so the method has strong robustness.

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“…References are cited in the text just by square brackets [1]. (If square brackets are not available, slashes may be used instead, e.g.…”

Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Monocular pose measurement method based on circle and line features

Cai¹,

Sun²

2016

Proceedings of the 2nd International Conference on Electronics, Network and Computer Engineering (ICENCE 2016)

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show abstract

“…You et al developed a binocular vision system for spacecraft positioning. The maximum standard deviation was less than 2 mm in 4 m [7]. Feng et al proposed a stereovisionbased relative orientation estimation method for the rendezvous and docking of noncooperative satel lites.…”

Section: Introductionmentioning

confidence: 99%

Omnidirectional angle constraint based dynamic six-degree-of-freedom measurement for spacecraft rendezvous and docking simulation

Shi

Yang

Lin

et al. 2018

Meas. Sci. Technol.

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In this paper we present a novel omnidirectional angle constraint based method for dynamic 6-DOF (six-degree-of-freedom) measurement. A photoelectric scanning measurement network is employed whose photoelectric receivers are fixed on the measured target. They are in a loop distribution and receive signals from rotating transmitters. Each receiver indicates an angle constraint direction. Therefore, omnidirectional angle constraints can be constructed in each rotation cycle. By solving the constrained optimization problem, 6-DOF information can be obtained, which is independent of traditional rigid coordinate system transformation. For the dynamic error caused by the measurement principle, we present an interpolation method for error reduction. Accuracy testing is performed in an 8 × 8 m measurement area with four transmitters. The experimental results show that the dynamic orientation RMSEs (root-mean-square errors) are reduced from 0.077° to 0.044°, 0.040° to 0.030° and 0.032° to 0.015° in the X, Y, and Z axes, respectively. The dynamic position RMSE is reduced from 0.65 mm to 0.24 mm. This method is applied during the final approach phase in the rendezvous and docking simulation. Experiments under different conditions are performed in a 40 × 30 m area, and the method is verified to be effective.

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“…In the aircraft control during aerial refueling, it is commonly used to provide accurate relative position measurements to the controller of unmanned air vehicle [ 4 ]. In spacecraft docking, pose measurement is central to the positioning of the docking assembly, and accomplished with the assistance of artificial markers or natural markers on the spacecraft [ 5 ]. In comprehensive helmet mounted display, it plays a significant role in combining the pose of helmet with direction of the weapon or sensor [ 6 ].…”

Section: Introductionmentioning

confidence: 99%

An Improvement of Pose Measurement Method Using Global Control Points Calibration

Sun

Wang

2015

PLoS ONE

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During the last decade pose measurement technologies have gained an increasing interest in the computer vision. The vision-based pose measurement method has been widely applied in complex environments. However, the pose measurement error is a problem in the measurement applications. It grows rapidly with increasing measurement range. In order to meet the demand of high accuracy in large measurement range, a measurement error reduction solution to the vision-based pose measurement method, called Global Control Point Calibration (GCPC), is proposed. GCPC is an optimized process of existing visual pose measurement methods. The core of GCPC is to divide the measurement error into two types: the control point error and the control space error. Then by creating the global control points as well as performing error calibration of object pose, the two errors are processed. The control point error can be eliminated and the control space error is minimized. GCPC is experimented on the moving target in the camera’s field of view. The results show that the RMS error is 0.175° in yaw angle, 0.189° in pitch angle, and 0.159° in roll angle, which demonstrate that GCPC works effectively and stably.

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Relative Pose Estimation under Monocular Vision in Rendezvous and Docking

Cited by 3 publications

References 16 publications

Monocular pose measurement method based on circle and line features

Monocular pose measurement method based on circle and line features

Omnidirectional angle constraint based dynamic six-degree-of-freedom measurement for spacecraft rendezvous and docking simulation

An Improvement of Pose Measurement Method Using Global Control Points Calibration

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