Real-Time HALCON-Based Pose Measurement System for an Astronaut Assistant Robot
文献类型：会议论文
| 作者 | Dai LH(戴立红)1,3,4 ; Liu JG(刘金国)1; Liu YW(刘玉旺)1
|
| 出版日期 | 2018 |
| 会议日期 | August 9-11, 2018 |
| 会议地点 | Newcastle, NSW, Australia |
| 关键词 | Astronaut Assistant Robot Pose measurement system PnP algorithm Real time |
| 页码 | 366-378 |
| 英文摘要 | The manned space program in China has entered the space station stage. Space astronauts normally have very limited time for certain tasks, so in order to free space astronauts from some repetitive routine tasks, various robots in space appear. Free-flying robots in space can also provide conditions for various scientific experiments with their unique microgravity advantages. The measurement of their positions and attitudes is the premise of their autonomous flight and remote operations. So, the pose measurements system of the Astronaut Assistant Robot is designed in this paper. With the camera calibrated, the image is acquired and processed in real time, and the robot is tracked in real time. In the end poses are estimated by virtue of PnP algorithm. The pose measurements system is modeled and simulated, with an automatic global threshold method to improve the reliability of the system. In addition, a series of measures are adopted to improve its efficiency with a satisfactory accuracy. The experimental results show that the measurement system meets the requirements of both effectiveness and efficiency. |
| 产权排序 | 1 |
| 会议录 | Intelligent Robotics and Applications - 11th International Conference, ICIRA 2018, Proceedings
 |
| 会议录出版者 | Springer Verlag |
| 会议录出版地 | Berlin |
| 语种 | 英语 |
| ISSN号 | 0302-9743 |
| ISBN号 | 978-3-319-97585-6 |
| WOS记录号 | WOS:000458556300033 |
| 源URL | [http://ir.sia.cn/handle/173321/22729]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 通讯作者 | Liu JG(刘金国) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China 2.Intelligent Systems and Biomedical Robotics, School of Creative Technologies, University of Portsmouth, Portsmouth, United Kingdom 3.University of the Chinese Academy of Sciences, Beijing 100049, China 4.School of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan 114051, China |
| 推荐引用方式 GB/T 7714 | Dai LH,Liu JG,Liu YW. Real-Time HALCON-Based Pose Measurement System for an Astronaut Assistant Robot[C]. 见:. Newcastle, NSW, Australia. August 9-11, 2018. |
入库方式： OAI收割
来源：沈阳自动化研究所
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