Research on pose estimation method for cooperative target based on monocular images

Author

Zhongwei, Guo ; Zhiyong, Li ; Dapeng, Zhang ; Liman, Yang

Author_Institution

Inst. of Manned Space Syst. Eng., China Acad. of Space Technol., Beijing, China

fYear

2011

fDate

21-23 June 2011

Firstpage

547

Lastpage

552

Abstract

This paper proposed a novel method detecting relative position and posture of cooperative target based on monocular images. Four uccoplanar leds are used as feature points, a single camera is used to realize image acquisition and processing, Posit algorithm is adopted to calculate relative translation vector and rotation matrix of the target, the effectiveness of the pose estimation method is verified by physical simulation system. The method and algorithm can be used for other pose estimation applications, 3D reconstruction, and motion analysis.

Keywords

pose estimation; cooperative target posture; image acquisition; monocular images; physical simulation system; pose estimation method; pose from orthography and scaling with iterations; posit algorithm; relative position detection method; target rotation matrix; target translation vector; Cameras; Estimation; Feature extraction; Robot sensing systems; Software; Space vehicles; cooperative target; monocular images; pose; rotation matrix;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics and Applications (ICIEA), 2011 6th IEEE Conference on

Conference_Location

Beijing

ISSN

pending

Print_ISBN

978-1-4244-8754-7

Electronic_ISBN

pending

Type

conf

DOI

10.1109/ICIEA.2011.5975646

Filename

5975646