POSITION AND ORIENTATION MEASUREMENT FOR AUTONOMOUS AERIAL REFUELING BASED ON MONOCULAR VISION
Wu, Wenqi; Wang, Xingang; Xu, De; Yin, Yingjie
发表期刊INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
2017
卷号32期号:1页码:13-21
文章类型Article
摘要Combined with the 3D model of aerial refuelling drogue target, this paper proposes a method for measuring the position and orientation based on monocular vision. The shape of the drogue's inner dark part is circular and its image is a circle or an ellipse in the image space. The contour points of the dark part are extracted in the image space and the adaptive elliptical parameter extraction algorithm based on RANSAC is adopted to get the parameters of the ellipse in the image space. Based on the principle of pinhole imaging and the dimension of the drogue's dark part, a visual cone is established and the position and orientation of the drogue's inner dark part can be deduced by using the geometric relationships. The experiments for measuring the drogue's position and orientation are carried on in a platform composed of two KUKA robots, and the experiment results verify the effectiveness of the proposed method.
关键词Ellipse Fitting Position And Orientation Measurement Monocular Vision Aerial Refuelling
WOS标题词Science & Technology ; Technology
DOI10.2316/Journal.206.2017.1.206-4661
关键词[WOS]SYSTEM ; SIMULATION
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61421004 ; National High Technology Research and Development Program of China (863 Program)(2015AA042308) ; Innovation Fund Project of the Chinese Academy of Sciences(CXJJ-14-M08) ; 61573349)
WOS研究方向Automation & Control Systems ; Robotics
WOS类目Automation & Control Systems ; Robotics
WOS记录号WOS:000397167200002
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/14412
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, Inst Automat, Res Ctr Precis Sensing & Control, Beijing, Peoples R China
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GB/T 7714
Wu, Wenqi,Wang, Xingang,Xu, De,et al. POSITION AND ORIENTATION MEASUREMENT FOR AUTONOMOUS AERIAL REFUELING BASED ON MONOCULAR VISION[J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,2017,32(1):13-21.
APA Wu, Wenqi,Wang, Xingang,Xu, De,&Yin, Yingjie.(2017).POSITION AND ORIENTATION MEASUREMENT FOR AUTONOMOUS AERIAL REFUELING BASED ON MONOCULAR VISION.INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,32(1),13-21.
MLA Wu, Wenqi,et al."POSITION AND ORIENTATION MEASUREMENT FOR AUTONOMOUS AERIAL REFUELING BASED ON MONOCULAR VISION".INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION 32.1(2017):13-21.
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