Robust, fast and accurate vision-based localization of a cooperative target used for space robotic arm

	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
发表期刊	Acta Astronautica
卷号	136
摘要	When 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.
收录类别	sci ; ei
语种	英语
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/59315
专题	中科院长春光机所知识产出
推荐引用方式 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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Robust fast and accu（2498KB）	期刊论文	作者接受稿	开放获取	CC BY-NC-SA	浏览请求全文