SIA OpenIR  > 机器人学研究室
Alternative TitlePose Estimation of Curved Objects Based on Binocular Vision and Vectors of the Tangent Plane
刘玉珍1; 张嘉蓉1; 林森1,2,3
Source Publication激光与光电子学进展
Indexed ByCSCD
Contribution Rank2
Funding Organization国家自然科学基金(61473280,61773367);国家自然科学基金委员会“共融机器人基础理论与关键技术研究”重大研究计划(91648118);辽宁省教育厅科学研究一般项目(L2014132);辽宁省自然科学基金面上项目(2015020100)
Keyword机器视觉 双目视觉 位姿估计 曲面物体 合作靶标


Other Abstract

Aiming at the problem that the world coordinates are not easy to obtain when estimating the pose of curved objects by monocular vision, an efficient method for estimating the pose of curved objects is proposed, which combines binocular vision and the cooperative target. A point cloud of the target object in different pose is generated by a binocular camera to quickly extract the world coordinates of the target corner points. Different from the commonly used point cloud registration pose estimation, the mean value of the corresponding point coordinate difference is used to represent the translation vector; then the normal vector of the tangent plane composed of the target corner points is taken to form a matrix of the target in different pose coordinates, thereby the rotation matrix is derived. The proposed method not only ensures the accuracy and stability of the pose estimation results, but also significantly improves the efficiency of the algorithm. The experimental results show that the efficiency of the proposed method is 98.24% higher than that of the ICP algorithm and 97.58% higher than the NDT algorithm, the proposed method has practical application value.

Citation statistics
Document Type期刊论文
Corresponding Author张嘉蓉
Recommended Citation
GB/T 7714
刘玉珍,张嘉蓉,林森. 基于双目视觉与切面向量的曲面物体位姿估计[J]. 激光与光电子学进展,2020,57(4):1-11.
APA 刘玉珍,张嘉蓉,&林森.(2020).基于双目视觉与切面向量的曲面物体位姿估计.激光与光电子学进展,57(4),1-11.
MLA 刘玉珍,et al."基于双目视觉与切面向量的曲面物体位姿估计".激光与光电子学进展 57.4(2020):1-11.
Files in This Item:
File Name/Size DocType Version Access License
基于双目视觉与切面向量的曲面物体位姿估计(4997KB)期刊论文作者接受稿开放获取CC BY-NC-SAView Application Full Text
Related Services
Recommend this item
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[刘玉珍]'s Articles
[张嘉蓉]'s Articles
[林森]'s Articles
Baidu academic
Similar articles in Baidu academic
[刘玉珍]'s Articles
[张嘉蓉]'s Articles
[林森]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[刘玉珍]'s Articles
[张嘉蓉]'s Articles
[林森]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 基于双目视觉与切面向量的曲面物体位姿估计.pdf
Format: Adobe PDF
All comments (0)
No comment.

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