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Real-Time HALCON-Based Pose Measurement System for an Astronaut Assistant Robot
Dai LH(戴立红)1,2,3; Liu JG(刘金国)1; Ju ZJ(琚兆杰)1,4; Liu YW(刘玉旺)1
作者部门空间自动化技术研究室
会议名称11th International Conference on Intelligent Robotics and Applications, ICIRA 2018
会议日期August 9-11, 2018
会议地点Newcastle, NSW, Australia
会议录名称Intelligent Robotics and Applications - 11th International Conference, ICIRA 2018, Proceedings
出版者Springer Verlag
出版地Berlin
2018
页码366-378
收录类别EI
EI收录号20183405735347
产权排序1
ISSN号0302-9743
ISBN号978-3-319-97585-6
关键词Astronaut Assistant Robot Pose measurement system PnP algorithm Real time
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.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/22729
专题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.School of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan 114051, China
3.University of the Chinese Academy of Sciences, Beijing 100049, China
4.Intelligent Systems and Biomedical Robotics, School of Creative Technologies, University of Portsmouth, Portsmouth, United Kingdom
推荐引用方式
GB/T 7714
Dai LH,Liu JG,Ju ZJ,et al. Real-Time HALCON-Based Pose Measurement System for an Astronaut Assistant Robot[C]. Berlin:Springer Verlag,2018:366-378.
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