15 October 2015 A videometrics method of cooperative object pose-measurement
Author Affiliations +
Proceedings Volume 9676, AOPC 2015: Optical Design and Manufacturing Technologies; 967605 (2015) https://doi.org/10.1117/12.2197412
Event: Applied Optics and Photonics China (AOPC2015), 2015, Beijing, China
Abstract
A systematic videometrics method of cooperative object pose-measurement for RVD (rendezvous and docking) is proposed in the paper. According to the method, initial values of pose parameters are calculated from binocular images respectively, and then optimized with bundle adjustment. While a certain variation of some exterior parameters of one camera are added as systematic disturbance purposely, the correct result could be calculated theoretically as the method analysis, and then also is verified in our experiment. The correct result could be converged quickly and stably in the experiment, and accurate pose-measurement results also could be obtained while initial values are provided with some certain errors. Even some amount of disturbance has been added purposely in experiment, high-precision pose results are also obtained by the binocular and bundle adjustment way.
© (2015) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Yueqiang Zhang, Yueqiang Zhang, Yang Shang, Yang Shang, Jianliang Ou, Jianliang Ou, Xuan Ma, Xuan Ma, } "A videometrics method of cooperative object pose-measurement", Proc. SPIE 9676, AOPC 2015: Optical Design and Manufacturing Technologies, 967605 (15 October 2015); doi: 10.1117/12.2197412; https://doi.org/10.1117/12.2197412
PROCEEDINGS
6 PAGES


SHARE
RELATED CONTENT


Back to Top