Pose Estimation of Cooperative Targets for Space Exploration Task Based on Binocular Visual Measurement

2013 ◽  
Vol 333-335 ◽  
pp. 268-274
Author(s):  
Jing Jing Wang ◽  
Jian Yu Huang ◽  
Shi Yin Qin
Keyword(s):  
Pose Estimation ◽  
Three Dimensional ◽  
Least Square Method ◽  
Estimation Algorithm ◽  
High Accuracy ◽  
Least Square ◽  
Estimation Accuracy ◽  
Feature Points ◽  
Well Performance ◽  
Visual Measurement

In this paper, a high accuracy and efficiency pose estimation algorithm is proposed for space cooperative targets in RVD based on binocular visual measurement. At first, the scheme of visual measurement toward RVD is presented and the environment conditions and performance requirement are analysed and discussed. Then the relationship of pose estimation with detection and tracking is studied to give an implementing strategy of pose estimation with high accuracy and efficiency. Moreover, the key point is focused on the pose estimation of cooperative targets, in which a stereo vision mapping relation between three dimensionl coordinates of spacial feature points of cooperative targets and their corresponding image coordinates is established, then the least square method is employed to estimate the three-dimensional coordinates of feature points so as to calculate the relative position and attitude between tracking spacecraft and target spacecraft with high precision, finally a series of experimental resluts indicate that the proposed pose estimation algorithm under binocular visual measurement demonstrates well performance in the estimation accuracy, anti-noise and real-time thus can achieve the application requriements of RVD under binocular visual measurement.

Heterogeneous Multisensor Fusion for Mobile Platform Three-Dimensional Pose Estimation

2017 ◽  
Vol 139 (7) ◽  
Author(s):  
Hanieh Deilamsalehy ◽  
Timothy C. Havens ◽  
Joshua Manela
Keyword(s):  
Pose Estimation ◽  
Three Dimensional ◽  
Estimation Algorithm ◽  
Estimation Accuracy ◽  
Two Dimensional ◽  
Localization Algorithm ◽  
3D Pose Estimation ◽  
Accurate Localization ◽  
Localization And Mapping ◽  
Aerial Vehicle

Precise, robust, and consistent localization is an important subject in many areas of science such as vision-based control, path planning, and simultaneous localization and mapping (SLAM). To estimate the pose of a platform, sensors such as inertial measurement units (IMUs), global positioning system (GPS), and cameras are commonly employed. Each of these sensors has their strengths and weaknesses. Sensor fusion is a known approach that combines the data measured by different sensors to achieve a more accurate or complete pose estimation and to cope with sensor outages. In this paper, a three-dimensional (3D) pose estimation algorithm is presented for a unmanned aerial vehicle (UAV) in an unknown GPS-denied environment. A UAV can be fully localized by three position coordinates and three orientation angles. The proposed algorithm fuses the data from an IMU, a camera, and a two-dimensional (2D) light detection and ranging (LiDAR) using extended Kalman filter (EKF) to achieve accurate localization. Among the employed sensors, LiDAR has not received proper attention in the past; mostly because a two-dimensional (2D) LiDAR can only provide pose estimation in its scanning plane, and thus, it cannot obtain a full pose estimation in a 3D environment. A novel method is introduced in this paper that employs a 2D LiDAR to improve the full 3D pose estimation accuracy acquired from an IMU and a camera, and it is shown that this method can significantly improve the precision of the localization algorithm. The proposed approach is evaluated and justified by simulation and real world experiments.

Prediction of Comprehensive Thermal Error of a Preloaded Ball Screw on a Gantry Milling Machine

2017 ◽  
Vol 140 (2) ◽  
Author(s):  
Kuo Liu ◽  
Haibo Liu ◽  
Te Li ◽  
Yongqing Wang ◽  
Mingjia Sun ◽  
...  
Keyword(s):  
Thermal Field ◽  
Thermal Characteristics ◽  
Thermal Error ◽  
Least Square Method ◽  
High Accuracy ◽  
Least Square ◽  
Ball Screw ◽  
Milling Machine ◽  
Thermal Fields ◽  
Proposed Model

The conception of the comprehensive thermal error of servo axes is given. Thermal characteristics of a preloaded ball screw on a gantry milling machine is investigated, and the error and temperature data are obtained. The comprehensive thermal error is divided into two parts: thermal expansion error ((TEE) in the stroke range) and thermal drift error ((TDE) of origin). The thermal mechanism and thermal error variation of preloaded ball screw are expounded. Based on the generation, conduction, and convection theory of heat, the thermal field models of screw caused by friction of screw-nut pairs and bearing blocks are derived. The prediction for TEE is presented based on thermal fields of multiheat sources. Besides, the factors influencing TDE are analyzed, and the model of TDE is established based on the least square method. The predicted thermal field of the screw is analyzed. The simulation and experimental results indicate that high accuracy stability can be obtained using the proposed model. Moreover, high accuracy stability can still be achieved even if the moving state of servo axis changes randomly, the screw is preloaded, and the thermal deformation process is complex. Strong robustness of the model is verified.

scholarly journals Numerical Exploration via Least Squares Estimation on Three Dimensional MHD Yield Exhibiting Nanofluid Model with Porous Stretching Boundaries

2021 ◽  
Vol 5 (4) ◽  
pp. 167
Author(s):  
Tamour Zubair ◽  
Muhammad Usman ◽  
Umar Nazir ◽  
Poom Kumam ◽  
Muhammad Sohail
Keyword(s):  
Differential Equations ◽  
Numerical Study ◽  
Nonlinear Partial Differential Equations ◽  
Three Dimensional ◽  
Least Square Method ◽  
Least Square ◽  
Comparison Study ◽  
Nano Fluid ◽  
Complicated Geometry ◽  
Maple Code

The numerical study of a three-dimensional magneto-hydrodynamic (MHD) Casson nano-fluid with porous and stretchy boundaries is the focus of this paper. Radiation impacts are also supposed. A feasible similarity variable may convert a verbalized set of nonlinear “partial” differential equations (PDEs) into a system of nonlinear “ordinary” differential equations (ODEs). To investigate the solutions of the resulting dimensionless model, the least-square method is suggested and extended. Maple code is created for the expanded technique of determining model behaviour. Several simulations were run, and graphs were used to provide a thorough explanation of the important parameters on velocities, skin friction, local Nusselt number, and temperature. The comparison study attests that the suggested method is well-matched, trustworthy, and accurate for investigating the governing model’s answers. This method may be expanded to solve additional physical issues with complicated geometry.

Intelligent Identification and Locating System of Steel Coil Based on Laser Technology

2014 ◽  
Vol 496-500 ◽  
pp. 1308-1312
Author(s):  
Yu Chi Wang ◽  
Si Yue Zhou ◽  
Zheng Peng Yuan
Keyword(s):  
3D Model ◽  
Three Dimensional ◽  
Least Square Method ◽  
Least Square ◽  
Circle Fitting ◽  
Three Dimensional Model ◽  
Laser Technology ◽  
Steel Coil ◽  
Main Emphasis ◽  
Locating System

In this paper, a solution based on laser technology is proposed for steel coil handling. The main emphasis is placed on the problem of steel coil identification and locating. In this paper, we first use laser data to construct three dimensional model of the worksite. And then we slice up the 3D model repeatedly to get the section images and make them to fusion. In order to wipe off the disturb of line, a line detection method based on probabilistic hough transform is proposed. Finally an improved least square method used in circle fitting is discussed.

The Circle-End-Face Centering Device Based on Image Processing

2014 ◽  
Vol 926-930 ◽  
pp. 3447-3450
Author(s):  
Yong Bo Li ◽  
Yun Zhao Xu ◽  
Jia He
Keyword(s):  
Image Processing ◽  
Digital Image Processing ◽  
High Stability ◽  
Least Square Method ◽  
High Accuracy ◽  
Concentric Circle ◽  
Least Square ◽  
Programmable Logic ◽  
Edge Extraction ◽  
Stability And Accuracy

The circle-end-face centering device which is in the base of image processing accomplishes the center of the cylinders end face by digital image processing. Through edge extraction and doing the matching in the calculation of the least square method, the coordinate of the central of the circle can be calculated. At last, the drill will be moved to the central of the circle and do the punching by the actuator. This equipment is in the high accuracy and speed compared with the traditional way and the concentric circle laser of marking with the center. Meanwhile, the actuator consists of the programmable logic controller, touch panel and servo drivers which is in the high stability and accuracy. Certainly it is easy to be controlled by the method.

Monocular vision-based iterative pose estimation algorithm from corresponding feature points

2010 ◽  
Vol 53 (8) ◽  
pp. 1682-1696 ◽  
Author(s):  
ShiJie Zhang ◽  
XiBin Cao ◽  
Fan Zhang ◽  
Liang He
Keyword(s):  
Pose Estimation ◽  
Estimation Algorithm ◽  
Monocular Vision ◽  
Feature Points

Railroad track modeling based on the results of mobile laser scanning

2018 ◽  
pp. 408-413
Author(s):  
Elena Lenchenkova
Keyword(s):  
Mathematical Model ◽  
Laser Scanning ◽  
Dimensional Space ◽  
Practical Importance ◽  
Three Dimensional ◽  
Least Square Method ◽  
Least Square ◽  
Railroad Track ◽  
Railway Line ◽  
Type Data

Objective: To develop a mathematical model of the railroad track based on the initial progressive-type data (laser scanning) in railroad design. Methods: Regression analysis (least-square method), as well as coordinate methods of calculating point position in space were applied. Results: The mathematical model, which could describe the position of the railroad track in three-dimensional space by means of mathematical relations, was obtained. Applicability of approximating models was established. The models make it possible to provide smoothing of laser survey data. Regularization and globalization algorithms of initial data were developed. Practical importance: The introduced model is universal when describing the position of the track at all stages of life cycle of the railway line. It is reasonable to apply the presented model in design engineering in order to balance survey errors, maintain the track in coordinates, as well as to calculate design and profile parameters.

Research of Binocular Positioning Mathematical Model Based on the Least Square Method

2011 ◽  
Vol 50-51 ◽  
pp. 473-477 ◽  
Author(s):  
Chun Feng Liu ◽  
Xiao Li Meng ◽  
Huan Cheng Zhang
Keyword(s):  
Relative Position ◽  
Three Dimensional ◽  
Digital Camera ◽  
Least Square Method ◽  
Absolute Error ◽  
Least Square ◽  
Specific Data ◽  
Centroid Algorithm ◽  
Three Dimensional Coordinate ◽  
The Relationship

By giving a centroid algorithm to extract pixel coordinates of each circle in the center of a circle under the coordinates, through the coordinate transformation the image coordinates can be obtained. Based on the data obtained from above to verify the model, from the specific data of the relative error, absolute error and error propagation theory to discuss the algorithm accuracy and stability. Finally using the least square method, according to the mean square error criteria for the establishment of a minimum of three-dimensional coordinate system fixed relative position of two cameras, binocular positioning mathematical models and by discussing the nature of matrix and the relationship between the relative position of the camera to calibrate the binocular digital camera.

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