کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
5472375 1519918 2017 14 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Robust, fast and accurate vision-based localization of a cooperative target used for space robotic arm
ترجمه فارسی عنوان
موضع قوی، سریع و دقیق مبتنی بر بینش یک هدف مشترک که برای بازوی فضایی استفاده می شود
کلمات کلیدی
بازوی فضایی رباتیک، اندازه گیری بصری، هدف تعاونی، تشخیص لبه، محلی سازی نشانگر، اندازه گیری پوزیشن،
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی هوافضا
چکیده انگلیسی
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° and 0.2 mm. The proposed algorithm is very suitable for real-time visual measurement that requires high precision in aerospace.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Acta Astronautica - Volume 136, July 2017, Pages 101-114
نویسندگان
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