SIA OpenIR  > 空间自动化技术研究室
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
Department空间自动化技术研究室
Conference Name11th International Conference on Intelligent Robotics and Applications, ICIRA 2018
Conference DateAugust 9-11, 2018
Conference PlaceNewcastle, NSW, Australia
Source PublicationIntelligent Robotics and Applications - 11th International Conference, ICIRA 2018, Proceedings
PublisherSpringer Verlag
Publication PlaceBerlin
2018
Pages366-378
Indexed ByEI ; CPCI(ISTP)
EI Accession number20183405735347
WOS IDWOS:000458556300033
Contribution Rank1
ISSN0302-9743
ISBN978-3-319-97585-6
KeywordAstronaut Assistant Robot Pose measurement system PnP algorithm Real time
AbstractThe 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/22729
Collection空间自动化技术研究室
Corresponding AuthorLiu JG(刘金国)
Affiliation1.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
Recommended Citation
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.
Files in This Item: Download All
File Name/Size DocType Version Access License
Real-Time HALCON-Bas(843KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Dai LH(戴立红)]'s Articles
[Liu JG(刘金国)]'s Articles
[Ju ZJ(琚兆杰)]'s Articles
Baidu academic
Similar articles in Baidu academic
[Dai LH(戴立红)]'s Articles
[Liu JG(刘金国)]'s Articles
[Ju ZJ(琚兆杰)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Dai LH(戴立红)]'s Articles
[Liu JG(刘金国)]'s Articles
[Ju ZJ(琚兆杰)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: Real-Time HALCON-Based Pose Measurement System for an Astronaut Assistant Robot.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.