An Efficient Pose Measurement Method of a Space Non-Cooperative Target Based on Stereo Vision

Peng, Jianqing; Xu, Wenfu; Yuan, Han

doi:10.1109/access.2017.2759798

Cited by 56 publications

(21 citation statements)

References 28 publications

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“…With the booming development of artificial intelligence and mobile Internet, the research community pays more and more attention to computer vision-based solutions on different issues [6], [7]. At the same time, the computer vision-based assistive navigation for visually impaired people is thriving.…”

Section: Related Workmentioning

confidence: 99%

Unifying Visual Localization and Scene Recognition for People With Visual Impairment

et al. 2020

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With the development of computer vision and mobile computing, assistive navigation for people with visual impairment arouses the attention of research communities. As two key challenges of assistive navigation, ''Where am I?'' and ''What are the surroundings?'' are still to be resolved by taking advantage of visual information. In this paper, we leverage the prevailing compact network as the backbone to build a unified network featuring two branches that implement scene description and scene recognition separately. Based on the unified network, the proposed pipeline performs scene recognition and visual localization simultaneously in the scenario of assistive navigation. The visual localization pipeline involves image retrieval and sequence matching. In the experiments, different configurations of the proposed pipeline are tested on public datasets to search for the optimal parameters. Moreover, on the real-world datasets captured by the wearable assistive device, the proposed assistive navigation pipeline is proved to achieve satisfactory performance. On the challenging dataset, the top-5 precision of scene recognition is more than 80%, and the visual localization precision is over 60% under a recall of 60%. The related codes and datasets are open-source online at https://github.com/chengricky/ScenePlaceRecognition.

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Section: Related Workmentioning

confidence: 99%

Unifying Visual Localization and Scene Recognition for People With Visual Impairment

et al. 2020

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“…Pre-capture: The chaser will synchronously spin along the H axis of the target [29], creating conditions for capture missions. The manipulator needs to track the tumbling target by visual servo achieving zero relative motion between the end-tip and the target [30], [31]. However, the elasticity caused by harmonic drives limits the tracking performance, bringing unexpected vibrations.…”

Section: B the Control Problem For Space Manipulator And Some Premisementioning

confidence: 99%

A Robust and Adaptive Control Method for Flexible-Joint Manipulator Capturing a Tumbling Satellite

et al. 2019

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A space manipulator needs to exhibit high stiffness for tracking, and good compliance for capturing a tumbling satellite. However, the elasticity caused by harmonic drives challenges both the highprecision motion and the flexibility of the manipulator. In this paper, we propose a novel control method based on a robust torque-tracking controller to eliminate the unexpected vibration resulting from elasticity and reject the perturbation caused by nonlinear friction of the motor. In order to achieve the high-precision motion of the manipulator with uncertain dynamics, we combined the method with an improved adaptive method. The position-based impedance control, taking both the translational and rotational impedance into account, is added to achieve the soft-capture of a tumbling satellite. The stability of the proposed method has been strictly proven by the Lyapunov method. The space manipulator is mounted on a controlled chaser, forming a free-flying space robot. A loose coordinated control between the chaser and the manipulator is adopted in the task simulation. The simulations for verifying controller performance and the task simulation reveal that the manipulator has high-precision motion performance in the pre-capture phase, achieves soft-capture in the capturing phase and offers a reliable connection between the chaser and the target in the de-tumbling phase. INDEX TERMS Flexible-joint manipulator, capture of tumbling satellite, robust and adaptive control, free-flying space robot.

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“…Currently, measuring instruments have been developed to meet specific measuring requirements. Although these instruments have their advantages, no single instrument can simultaneously meet the high requirements in terms of precision, efficiency, resolution, and measuring range [5][6][7]. For example, coordinate measuring machines (CMMs) usually have high accuracy, but their measurement efficiency is low.…”

Section: Introductionmentioning

confidence: 99%

A Multisensor Data Fusion Method Based on Gaussian Process Model for Precision Measurement of Complex Surfaces

Ding

Liu

Bai

et al. 2020

Sensors

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As multisensor measurement technology is rapidly applied in industrial production, one key issue is the data fusion procedure by combining several datasets from multiple sensors to obtain the overall geometric measurement. In this paper, a multisensor data fusion method based on a Gaussian process model is proposed for complex surface measurements. A robust surface registration method based on the adaptive distance function is firstly used to unify the coordinate systems of different measurement datasets. By introducing an adjustment model, the residuals between several independent datasets from different sensors are then approximated to construct a Gaussian process model-based data fusion system. The proposed method is verified through both simulation verification and actual experiments, indicating that the proposed method can fuse multisensor measurement datasets with better fusion accuracy and faster computational efficiency compared to the existing method.

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An Efficient Pose Measurement Method of a Space Non-Cooperative Target Based on Stereo Vision

Cited by 56 publications

References 28 publications

Unifying Visual Localization and Scene Recognition for People With Visual Impairment

Unifying Visual Localization and Scene Recognition for People With Visual Impairment

A Robust and Adaptive Control Method for Flexible-Joint Manipulator Capturing a Tumbling Satellite

A Multisensor Data Fusion Method Based on Gaussian Process Model for Precision Measurement of Complex Surfaces

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