Precise pose and radius estimation of circular target based on binocular vision

Liu, Zhenyu; Liu, Xia; Duan, Guifang; Tan, Jianrong

doi:10.1088/1361-6501/aaf8c8

Cited by 18 publications

(12 citation statements)

References 41 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Therefore, stereo matching can be performed on images which are obtained by the left and right cameras. Cost calculation can obtain three-dimensional information of each point in an image in the real scene [19,20]. This algorithm uses the principle of similar triangles to construct a parallax distance calculation model.…”

Section: Model Of the Binocular Stereo Cameramentioning

confidence: 99%

An Improved Sum of Squared Difference Algorithm for Automated Distance Measurement

2021

View full text Add to dashboard Cite

In recent years, with improvement of photoelectric conversion efficiency and accuracy, photoelectric sensor was arranged to simulate binocular stereo vision for 3D measurement, and it has become an important distance measurement method. In this paper, an improved sum of squared difference (SSD) algorithm which can use binocular cameras to measure distance of vehicle ahead was proposed. Firstly, consistency matching calibration was performed when images were acquired. Then, Gaussian blur was used to smooth the image, and grayscale transformation was performed. Next, the Sobel operator was used to detect the edge of images. Finally, the improved SSD was used for stereo matching and disparity calculation, and the distance value could be obtained corresponding to each point. Experimental results showed that the improved SSD algorithm had an accuracy rate of 95.06% when stereo matching and disparity calculation were performed. This algorithm fully meets the requirements of distance measurement.

show abstract

Section: Model Of the Binocular Stereo Cameramentioning

confidence: 99%

An Improved Sum of Squared Difference Algorithm for Automated Distance Measurement

2021

View full text Add to dashboard Cite

show abstract

“…The artificial marks processed on the disc cutter or its holder are easy to be worn; thus, the noncooperative target method is more suitable for the actual situation. Usually, some prominent geometric features with simple structure and easy recognition are extracted from the object for positioning, such as point [5], straight line [6], circle [7], etc. By using the corner points on the inside contour of the cutter holder, feature points are extracted to estimate the pose of the cutter holder.…”

Section: Introductionmentioning

confidence: 99%

Pose Determination of the Disc Cutter Holder of Shield Machine Based on Monocular Vision

Peng

Zhu

Zhang

et al. 2022

Sensors

View full text Add to dashboard Cite

The visual measurement system plays a vital role in the disc cutter changing robot of the shield machine, and its accuracy directly determines the success rate of the disc cutter grasping. However, the actual industrial environment with strong noise brings a great challenge to the pose measurement methods. The existing methods are difficult to meet the required accuracy of pose measurement based on machine vision under the disc cutter changing conditions. To solve this problem, we propose a monocular visual pose measurement method consisting of the high precision optimal solution to the PnP problem (OPnP) method and the highly robust distance matching (DM) method. First, the OPnP method is used to calculate the rough pose of the shield machine’s cutter holder, and then the DM method is used to measure its pose accurately. Simulation results show that the proposed monocular measurement method has better accuracy and robustness than the several mainstream PnP methods. The experimental results also show that the maximum error of the proposed method is 0.28° in the direction of rotation and 0.32 mm in the direction of translation, which can meet the measurement accuracy requirement of the vision system of the disc cutter changing robot in practical engineering application.

show abstract

“…The features of a double planar circle were applied to estimate the pose of the target in Reference [ 23 ] and calibrate the camera parameters in References [ 24 , 25 ]. In addition, stereo vision was introduced to the pose estimation by providing additional information to the scene reconstruction in References [ 26 , 27 ].…”

Section: Introductionmentioning

confidence: 99%

Monocular Visual Position and Attitude Estimation Method of a Drogue Based on Coaxial Constraints

Zhao

Sun

Zhang

et al. 2021

Sensors

View full text Add to dashboard Cite

In aerial refueling, there exists deformation of the circular feature on the drogue’s stabilizing umbrella to a certain extent, which causes the problem of duality of position estimation by a single circular feature. In this paper, a monocular visual position and attitude estimation method of a drogue is proposed based on the coaxial constraints. Firstly, a procedure for scene recovery from one single circle is introduced. The coaxial constraints of the drogue are proposed and proved to be useful for the duality’s elimination by analyzing the matrix of the spatial structure. Furthermore, we came up with our method, which is composed of fitting the parameters of the spatial circles by restoring the 3D points on it, using the two-level coaxial constraints to eliminate the duality, and optimizing the normal vector of the plane where the inner circle is located. Finally, the effectiveness and robustness of the method proposed in this paper are verified, and the influence of the coaxial circle’s spatial structure on the method is explored through simulations of and experiments on a drogue model. Under the interference of a large amount of noise, the duality elimination success rate of our method can also be maintained at a level that is more than 10% higher than others. In addition, the accuracy of the normal vector obtained by the fusion algorithm is improved, and the mean angle error is reduced by more than 26.7%.

show abstract

Precise pose and radius estimation of circular target based on binocular vision

Cited by 18 publications

References 41 publications

An Improved Sum of Squared Difference Algorithm for Automated Distance Measurement

An Improved Sum of Squared Difference Algorithm for Automated Distance Measurement

Pose Determination of the Disc Cutter Holder of Shield Machine Based on Monocular Vision

Monocular Visual Position and Attitude Estimation Method of a Drogue Based on Coaxial Constraints

Contact Info

Product

Resources

About