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Robust vision system for space teleoperation ground verification platform
Fan BJ(范保杰); Du YK(杜英魁); Wu DL(吴登禄); Wang, Cailing
作者部门机器人学研究室
会议名称32nd Chinese Control Conference, CCC 2013
会议日期July 26-28, 2013
会议地点Xi'an, China
会议录名称Proceedings of the 32nd Chinese Control Conference, CCC 2013
出版者IEEE Computer Society
出版地Washington, DC
2013
页码3651-3656
收录类别EI
EI收录号20135217122560
产权排序2
ISSN号1934-1768
ISBN号978-9-8815-6383-5
关键词Algorithms Motion Estimation Object Recognition Remote Control Stereo Vision
摘要In this paper, we design and develop a robust vision system for space teleoperation ground verification platform. It consists four subsystems to achieve the following functions: Image acquisition and monitor, image transmission, cooperative object detection and track, pose estimation for robot. In order to complete visual guidance tasks, we design an novel cooperative object and propose the correspongding object detection and track algorithm. The algorithm is efficient and effective, it can locate the cooperative object accurately. Based on the precise location of the coopertive object, we also propose a pose measurement method by the stereo vision system. The effectiveness of the proposed method is demonstrated with different experiments. The results show that the values of the pose parameters are very close to the ground truth. The translation error is 0.8mm, and the rotation error is 2degree.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/14592
专题机器人学研究室
推荐引用方式
GB/T 7714
Fan BJ,Du YK,Wu DL,et al. Robust vision system for space teleoperation ground verification platform[C]. Washington, DC:IEEE Computer Society,2013:3651-3656.
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