Autonomous aerial refueling is a significant technology that can significantly extend the endurance of unmanned aerial vehicles. A reliable method that can accurately estimate the position and attitude of the probe relative to the drogue is the key to such a capability. A drogue pose estimation method based on infrared vision sensor is introduced with the general goal of yielding an accurate and reliable drogue state estimate. First, by employing direct least squares ellipse fitting and convex hull in OpenCV, a feature point matching and interference point elimination method is proposed. In addition, considering the conditions that some infrared LEDs are damaged or occluded, a missing point estimation method based on perspective transformation and affine transformation is designed. Finally, an accurate and robust pose estimation algorithm improved by the runner-root algorithm is proposed. The feasibility of the designed visual measurement system is demonstrated by flight test, and the results indicate that our proposed method enables precise and reliable pose estimation of the probe relative to the drogue, even in some poor conditions.
In dental restoration, its important to achieve a high-accuracy digital impression. Most of the existing intraoral measurement systems can only measure the tooth from a single view. Therfore，if we are wilng to acquire the whole data of a tooth, the scans of the tooth from multi-direction ad the data stitching based on the features of the surface are needed, which increases the measurement duration and influence the measurement accuracy. In this paper, we introduce a fringe-projection based on multi-view intraoral measurement system. It can acquire 3D data of the occlusal surface, the buccal surface and the lingual surface of a tooth synchronously, by using a senor with three mirrors, which aim at the three surfaces respectively and thus expand the measuring area. The constant relationship of the three mirrors is calibrated before measurement and can help stitch the data clouds acquired through different mirrors accurately. Therefore the system can obtain the 3D data of a tooth without the need to measure it from different directions for many times. Experiments proved the availability and reliability of this miniaturized measurement system.