Equivalent virtual cameras to estimate a six-degree-of-freedom pose in restricted-space scenarios

Deng, Zhaojun; Li, Anhu; Liu, Xingsheng

doi:10.1016/j.measurement.2021.109903

Cited by 8 publications

(3 citation statements)

References 28 publications

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“…The commands for realizing 3-DOF translation motion should be intuitive. Therefore, the direction of the force generated by the motion of the operator should coincide with the direction of the translation command (Deng et al, 2021). In the conventional method, the correspondence between the measured forces and output velocities is defined as follows:…”

Section: Proposed Conversion Equationsmentioning

confidence: 99%

Foot force characteristics when using foot-controlled isometric device and operating method based on them

LI,

LONG,

TERAKAWA

et al. 2024

Mechanical Engineering Journal

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The range of motion of the human lower limbs is comparable to that of the upper limbs, which suggests the feasibility of controlling a device with multiple degrees of freedom using the lower limbs. If this can be achieved, it could lead to an extension of human capabilities. In order to ensure accurate control using the user's feet, it is important to understand the characteristics of foot motions, especially those of the exerted force. This study experimentally investigates the force characteristics of the foot using an isometric device that can measure the exerted force. The experimental results show when intending to exert forward-directed force, downward force is also generated. Additionally, we revealed that when intending to exert downward or sideways forces, forces in other directions also become prominent. Considering the fundamental motion characteristics of the lower limbs, we proposed an operation system and conducted experiments in a virtual space. A method based on conversion equations is proposed to compensate for the unintended force. An experimental comparison of the proposed method and the conventional method shows that the proposed method leads to significant improvements in the clear time, operation path length, and deviation from the ideal path, verifying its effectiveness. Especially during the main stages of the operation, the proposed method allowed for more accurate control, with a maximum enhancement of 16% in accuracy.

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Section: Proposed Conversion Equationsmentioning

confidence: 99%

Foot force characteristics when using foot-controlled isometric device and operating method based on them

LI,

LONG,

TERAKAWA

et al. 2024

Mechanical Engineering Journal

View full text Add to dashboard Cite

show abstract

“…Utilizing the advantages of light weight, small size, and high stability of optical cameras in spatial measurement, combined with machine vision technology, high-quality and stable acquisition of target image data is carried out. Then, the image processing technologies such as distortion correction 6 , corner detection 7 , feature extraction, stereo matching 8 , Iterative reconstruction 9 , pose solution and so on are used to solve the pose of the target, and the timing and data structure of the hardware platform 10,11 are optimized, so as to achieve the accurate pose solution of non-cooperative targets. a) The image acquisition system based on the Zynq platform is designed through software and hardware collaboration to control data format conversion and timing constraints, reduce target image acquisition errors, and improve system response speed.…”

Section: Introductionmentioning

confidence: 99%

Pose measurement method of space target based on Zynq platform

Zhang,

Yang,

Wang

et al. 2023

AOPC 2023: Optic Fiber Gyro

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With the continuous deepening of human exploration of space, space control technology is receiving increasing attention. In space in orbit missions, both autonomous approach and close range operations require measuring the relative pose between targets. At present, there have been a large number of research results and applications of visual pose measurement methods in engineering both domestically and internationally. However, research on visual pose measurement for non-cooperative targets is relatively weak. Not only is there a lack of systematic and complete target pose measurement methods, but the response speed and accuracy in engineering applications also need to be further improved.This article proposes a new spatial object pose measurement method based on the Zynq platform, which utilizes the control algorithm and operating system advantages of the processor, as well as the parallel computing and dynamic configuration advantages of FPGA. Through software and hardware collaborative design, highquality data and image acquisition and precise pose calculation are carried out for non-cooperative targets. The algorithm in this paper is optimized and improved in data format, time sequence control, distortion correction, corner detection, feature extraction, stereo matching, Iterative reconstruction, pose calculation, etc. Finally, the target pose measurement method with clear data flow, hardware and software combination, and industrial application is realized. The experimental results show that the proposed method has fast response and accurate calculation results in visual pose measurement of non-cooperative targets.

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“…This problem also shares some aspects with the one we tackle, but classical solutions to the art-gallery problem are not directly applicable to our time-varying scenario. Other static perception strategies with multiple sensors are selected for purposes like industrial inspection of 3D parts [13], 3D reconstruction of pipelines for inspection [14], buildings exterior surveillance [15], volume estimation of merchandise [16] and pose estimation in restricted space scenarios [17]. These kinds of works select the viewpoints with ad hoc criteria or from a predefined candidate set, which may be non-optimal, and have limited adaptability.…”

Section: Introductionmentioning

confidence: 99%