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Relative Pose Estimation for Alignment of Long Cylindrical Components Based on Microscopic Vision
Liu, Song; Xu, De; Liu, Fangfang; Zhang, Dapeng; Zhang, Zhengtao
Source PublicationIEEE-ASME TRANSACTIONS ON MECHATRONICS
2016-06-01
Volume21Issue:3Pages:1388-1398
SubtypeArticle
AbstractIn 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.
Keyword3-d Alignment Assembly Feature Extraction Image Jacobian Matrix Long Cylindrical Components Multimicroscopic Vision Optical Axis Calibration Relative Pose Estimation Vision Sensing
WOS HeadingsScience & Technology ; Technology
DOI10.1109/TMECH.2015.2506906
WOS KeywordHEAT DISSIPATION CAPABILITY ; SLOW-WAVE STRUCTURE
Indexed BySCI
Language英语
Funding OrganizationNational Natural Science Foundation of China(61227804 ; 61421004 ; 61303177 ; 61305115)
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS IDWOS:000375609900019
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12217
Collection精密感知与控制研究中心_精密感知与控制
AffiliationChinese Acad Sci, Res Ctr Precis Sensing & Control, Inst Automat, Beijing 100190, Peoples R China
Recommended Citation
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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