Relative Pose Estimation for Alignment of Long Cylindrical Components Based on Microscopic Vision
文献类型：期刊论文
| 作者 | Liu, Song ; Xu, De; Liu, Fangfang; Zhang, Dapeng; Zhang, Zhengtao
|
| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
 |
| 出版日期 | 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) |
| 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. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。