Pose Estimation for Planar Target Based on Monocular Visual Information
文献类型：会议论文
| 作者 | Zhou, Yuqi1; Gao HW(高宏伟)1,2 ; Sun, Jian1; Jiang, Yueqiu1
|
| 出版日期 | 2020 |
| 会议日期 | September 9-11, 2020 |
| 会议地点 | Fushun, China |
| 关键词 | Monocular vision Pose estimation Image processing Recognition |
| 页码 | 110-123 |
| 英文摘要 | Target pose estimation is a key technology in the field of artificial intelligence. This paper focuses on the pose estimation method based on monocular vision. Firstly, a cooperative target composed of five circular patterns is designed to increase the measurement accuracy. To solve the shortcomings of traditional image processing algorithms, we add two constraints, area threshold and ellipse roundness, to achieve more accurate feature extraction and segmentation. Then, the least square method is used to fit ellipses, and an ellipse sorting method is designed. Combined with the established models, the pose estimation of the target can be realized via the PNP problem. A large number of experiments prove the effectiveness and feasibility of the proposed method. Experiments show that the mean error for the attitude angle and position are less than 0.4° and 0.5 mm respectively. In a word, this method has the advantages of simple process, reasonable cost and high precision, and can be applied to engineering practice. © 2020, Springer Nature Singapore Pte Ltd. |
| 产权排序 | 2 |
| 会议录 | Robotics and Rehabilitation Intelligence - First International Conference, ICRRI 2020, Proceedings
 |
| 会议录出版者 | Springer Science and Business Media Deutschland GmbH |
| 会议录出版地 | Berlin |
| 语种 | 英语 |
| ISSN号 | 1865-0929 |
| ISBN号 | 978-981-33-4928-5 |
| 源URL | [http://ir.sia.cn/handle/173321/28356]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 通讯作者 | Gao HW(高宏伟) |
| 作者单位 | 1.College of Automation and Electrical Engineering, Shenyang Ligong University, Shenyang 110159, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China |
| 推荐引用方式 GB/T 7714 | Zhou, Yuqi,Gao HW,Sun, Jian,et al. Pose Estimation for Planar Target Based on Monocular Visual Information[C]. 见:. Fushun, China. September 9-11, 2020. |
入库方式： OAI收割
来源：沈阳自动化研究所
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。