Title :
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
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;
Conference_Titel :
Industrial Electronics and Applications (ICIEA), 2011 6th IEEE Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-8754-7
Electronic_ISBN :
pending
DOI :
10.1109/ICIEA.2011.5975646
