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POSITION AND ORIENTATION MEASUREMENT FOR AUTONOMOUS AERIAL REFUELING BASED ON MONOCULAR VISION
Wu, Wenqi; Wang, Xingang; Xu, De; Yin, Yingjie
Source PublicationINTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
2017
Volume32Issue:1Pages:13-21
SubtypeArticle
AbstractCombined 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.
KeywordEllipse Fitting Position And Orientation Measurement Monocular Vision Aerial Refuelling
WOS HeadingsScience & Technology ; Technology
DOI10.2316/Journal.206.2017.1.206-4661
WOS KeywordSYSTEM ; SIMULATION
Indexed BySCI
Language英语
Funding OrganizationNational 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 Research AreaAutomation & Control Systems ; Robotics
WOS SubjectAutomation & Control Systems ; Robotics
WOS IDWOS:000397167200002
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Cited Times:3[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/14412
Collection精密感知与控制研究中心_精密感知与控制
AffiliationChinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing, Peoples R China
First Author AffilicationChinese Acad Sci, Inst Automat, Res Ctr Precis Sensing & Control, Beijing 100190, Peoples R China
Recommended Citation
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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