POSITION AND ORIENTATION MEASUREMENT FOR AUTONOMOUS AERIAL REFUELING BASED ON MONOCULAR VISION

doi:10.2316/Journal.206.2017.1.206-4661

CORC > 自动化研究所 > 中国科学院自动化研究所 > 精密感知与控制研究中心 > 精密感知与控制

	POSITION AND ORIENTATION MEASUREMENT FOR AUTONOMOUS AERIAL REFUELING BASED ON MONOCULAR VISION
	Wu, Wenqi; Wang, Xingang; Xu, De; Yin, Yingjie
刊名	INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
	2017
卷号	32 期号:1 页码:13-21
关键词	Ellipse Fitting Position And Orientation Measurement Monocular Vision Aerial Refuelling
DOI	10.2316/Journal.206.2017.1.206-4661
文献子类	Article
英文摘要	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.
WOS关键词	SYSTEM ; SIMULATION
WOS研究方向	Automation & Control Systems ; Robotics
语种	英语
WOS记录号	WOS:000397167200002
资助机构	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)
内容类型	期刊论文
源URL	[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
推荐引用方式 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.