POSITION AND ORIENTATION MEASUREMENT FOR AUTONOMOUS AERIAL REFUELING BASED ON MONOCULAR VISION
文献类型：期刊论文
| 作者 | Wu, Wenqi ; Wang, Xingang; Xu, De; Yin, Yingjie
|
| 刊名 | INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
 |
| 出版日期 | 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) |
| 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. |
入库方式： OAI收割
来源：自动化研究所
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