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Robust, fast and accurate vision-based localization of a cooperative target used for space robotic arm
Wen, Z. M.; Y. J. Wang; J. Luo; A. Kuijper; N. Di and M. H. Jin
2017
Source PublicationActa Astronautica
Volume136
AbstractWhen a space robotic arm deploys a payload, usually the pose between the cooperative target fixed on the payload and the hand-eye camera installed on the arm is calculated in real-time. A high-precision robust visual cooperative target localization method is proposed. Combing a circle, a line and dots as markers, a target that guarantees high detection rates is designed. Given an image, single-pixel-width smooth edges are drawn by a novel linking method. Circles are then quickly extracted using isophotes curvature. Around each circle, a square boundary in a pre-calculated proportion to the circle radius is set. In the boundary, the target is identified if certain numbers of lines exist. Based on the circle, the lines, and the target foreground and background intensities, markers are localized. Finally, the target pose is calculated by the Point-3-Perspective algorithm. The algorithm processes 8 frames per second with the target distance ranging from 0.3m to 1.5 m. It generated high precision poses of above 97.5% on over 100,000 images regardless of camera background, target pose, illumination and motion blur. At 0.3 m, the rotation and translation errors were less than 0.015 degrees and 0.2 mm. The proposed algorithm is very suitable for real-time visual measurement that requires high precision in aerospace.
Indexed Bysci ; ei
Language英语
Document Type期刊论文
Identifierhttp://ir.ciomp.ac.cn/handle/181722/59315
Collection中科院长春光机所知识产出
Recommended Citation
GB/T 7714
Wen, Z. M.,Y. J. Wang,J. Luo,et al. Robust, fast and accurate vision-based localization of a cooperative target used for space robotic arm[J]. Acta Astronautica,2017,136.
APA Wen, Z. M.,Y. J. Wang,J. Luo,A. Kuijper,&N. Di and M. H. Jin.(2017).Robust, fast and accurate vision-based localization of a cooperative target used for space robotic arm.Acta Astronautica,136.
MLA Wen, Z. M.,et al."Robust, fast and accurate vision-based localization of a cooperative target used for space robotic arm".Acta Astronautica 136(2017).
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