Relative Pose Estimation for Alignment of Long Cylindrical Components Based on Microscopic Vision

doi:10.1109/TMECH.2015.2506906

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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
刊名	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	2016-06-01
卷号	21 期号:3 页码:1388-1398
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
DOI	10.1109/TMECH.2015.2506906
文献子类	Article
英文摘要	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.
WOS关键词	HEAT DISSIPATION CAPABILITY ; SLOW-WAVE STRUCTURE
WOS研究方向	Automation & Control Systems ; Engineering
语种	英语
WOS记录号	WOS:000375609900019
资助机构	National Natural Science Foundation of China(61227804 ; 61421004 ; 61303177 ; 61305115)
内容类型	期刊论文
源URL	[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.