Relative Pose Estimation for Alignment of Long Cylindrical Components Based on Microscopic Vision
Liu, Song; Xu, De; Liu, Fangfang; Zhang, Dapeng; Zhang, Zhengtao
2016-06-01
发表期刊IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷号21期号:3页码:1388-1398
文章类型Article
摘要In this paper, an efficient relative pose estimation method based on multimicroscopic vision is presented for the alignment of long cylindrical components in six degree-of-freedom in the 3-D space. First, the relative pose estimation method measures the relative orientation errors between components in a coarse-to-fine manner. The coarse relative orientation estimation reflects the average orientation difference among multiedges and it promises the relative orientation errors can converge to a limited extent rapidly. The fine relative orientation estimation is to detect whether the components will interfere with each other in the insertion process and it provides higher orientation measurement accuracy under multilateral constraint circumstance. The method to determine the invisible feature lines of long cylindrical components of prism shape with odd edges for relative position error estimation is discussed in detail. Afterward, the relative position between components is measured by side-view cameras using the feature lines. In addition, the method to calibrate the optical axis of microscopic camera is also presented. The relative pose estimation method can reliably estimate the relative pose between long cylindrical components of prism shape with odd edges. Alignment experiments and results demonstrate the effectiveness of the proposed relative pose estimation method.
关键词3-d Alignment Assembly Feature Extraction Image Jacobian Matrix Long Cylindrical Components Multimicroscopic Vision Optical Axis Calibration Relative Pose Estimation Vision Sensing
WOS标题词Science & Technology ; Technology
DOI10.1109/TMECH.2015.2506906
关键词[WOS]HEAT DISSIPATION CAPABILITY ; SLOW-WAVE STRUCTURE
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61227804 ; 61421004 ; 61303177 ; 61305115)
WOS研究方向Automation & Control Systems ; Engineering
WOS类目Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号WOS:000375609900019
引用统计
被引频次:7[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/12217
专题精密感知与控制研究中心_精密感知与控制
作者单位Chinese Acad Sci, Res Ctr Precis Sensing & Control, Inst Automat, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714
Liu, Song,Xu, De,Liu, Fangfang,et al. Relative Pose Estimation for Alignment of Long Cylindrical Components Based on Microscopic Vision[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2016,21(3):1388-1398.
APA Liu, Song,Xu, De,Liu, Fangfang,Zhang, Dapeng,&Zhang, Zhengtao.(2016).Relative Pose Estimation for Alignment of Long Cylindrical Components Based on Microscopic Vision.IEEE-ASME TRANSACTIONS ON MECHATRONICS,21(3),1388-1398.
MLA Liu, Song,et al."Relative Pose Estimation for Alignment of Long Cylindrical Components Based on Microscopic Vision".IEEE-ASME TRANSACTIONS ON MECHATRONICS 21.3(2016):1388-1398.
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