Research on visual multi-target based pose estimation algorithm for ARV underwater docking
文献类型：会议论文
| 作者 | Wang BQ(王丙乾)1,2,3; Tang YG(唐元贵)1,2 ; Shi CM(时常鸣)1,2,3
|
| 出版日期 | 2019 |
| 会议日期 | May 29-31, 2019 |
| 会议地点 | Shanghai, China |
| 关键词 | Underwater Docking Multi-target Vision Pose Estimation ARV |
| 页码 | 97-101 |
| 英文摘要 | Underwater docking technology has important scientific significance and practical value. By using ARV to connect with the underwater docking station, on the one hand, the batteries in ARV can be recharged, and the continuous operation capability can be enhanced. On the other hand, the ARV can be used to transmit the data collected by the docking station for a long time. In this paper, a multi-target combined pose estimation algorithm which combined the guide lights and AR markers is proposed to estimate the pose of the ARV. A weight changes with the distance between the camera and the docking port is employed to combine the poses calculated from the AR markers and the lights. Through the pool experiment, the effectiveness of the algorithm is proved in aspects such as pose estimation accuracy, effective distance and estimation success rate. |
| 产权排序 | 1 |
| 会议录 | 3rd International Symposium on Autonomous Systems, ISAS 2019
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-1298-5 |
| 源URL | [http://ir.sia.cn/handle/173321/25445]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 通讯作者 | Tang YG(唐元贵) |
| 作者单位 | 1.Institutes for Robotics and Intelligent Manufacting, Chinese Academy of Sciences, Shenyang 110016, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 3.University of Chinese Academy of Sciences, Beijing 100049, China |
| 推荐引用方式 GB/T 7714 | Wang BQ,Tang YG,Shi CM. Research on visual multi-target based pose estimation algorithm for ARV underwater docking[C]. 见:. Shanghai, China. May 29-31, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
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