Real-Time Model-Based Monocular Pose Tracking for an Asteroid by Contour Fitting

Liu, Chang; Guo, Wulong; Hu, Weiduo; Chen, Rongliang; Liu, Jia

doi:10.1109/taes.2020.3044116

Cited by 5 publications

(9 citation statements)

References 74 publications

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“…Furthermore, compared with the existing method using 2D reprojections, our method determines the pose of asteroids by minimizing the line-to-plane angles, which is much more robust to the size of asteroids and position change (Hu et al, 2021). This paper is a great extension of our previous work (Liu et al, 2020b), but the methodology in this paper is completely new: 1) we propose a robust 2D-3D correspondence method based on the covariance of the pose, 2) we determine the asteroid pose by minimizing the angles between the projection planes of the extracted 3D contour segments and the back-projection lines of the corresponding 2D edge points, 3) we infer the covariance matrix of the estimated pose based on the firstorder optimality of the pose optimization, and 4) we use 2nd-AR-based SCKF to give the final pose estimate and initialize the pose tracking at the next time instant.…”

Section: Introductionmentioning

confidence: 88%

“…In addition, frequent rendering makes real-time implementation impossible. The edgebased methods acquire the pose by aligning the edge of the rendered CAD model with the image edges (Petit et al, 2012a;Petit et al, 2012b;Kanani et al, 2012;Oumer et al, 2015;Lourakis and Zabulis, 2017;Marchand et al, 2019;Liu et al, 2020b;Comellini et al, 2020;Huang et al, 2020;Lentaris et al, 2020). These methods are accurate and robust in complex illumination conditions and particularly suitable for smooth and poorly textured targets.…”

Section: Introductionmentioning

confidence: 99%

“…However, they lack robustness to the noise and cluttered background, and rendering the CAD model will be time-consuming. Liu et al (2020b) track the 6-DoF pose of asteroids in real time by minimizing the reprojection errors of the 3D contour of the asteroid, without rendering the CAD model of the asteroid. Despite the accuracy and efficiency, these methods are relatively susceptible to the position change of asteroids.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Model-based monocular 6-degree-of-freedom pose tracking for asteroid

Tang,

Liu,

et al. 2024

Front. Space Technol.

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In this paper, we present a novel vision-based framework to track the 6-DoF pose of an asteroid in real time with the 3D contour of the asteroid as a feature. During pose tracking, at the beginning time of tracking, the tracking system is initialized by a pose retrieval method. At each subsequent time instant, given the 3D mesh model of an asteroid, with the initial pose and its covariance given by the square root cubature Kalman Filter (SCKF), the 3D mesh segments constituting the 3D asteroid contour are efficiently extracted from the 3D mesh model. Then, in the input asteroid image, we search the image points corresponding to the extracted 3D segments within the searching range defined by the initial pose and its covariance. After that, the asteroid pose is determined in real time by minimizing the angles between the back-projection lines of the searched image points and the projection planes of the corresponding 3D segments, which is much more robust to the position change of the asteroid and asteroid size. The covariance matrix of the pose is inferred from the Cartesian noise model in the first order. Eventually, the SCKF is derived from the second-order auto regression to generate the final pose estimate and give the initial pose and its covariance for the next time instant. The synthetic trials quantitatively validate the real-time performance, robustness, and accuracy of our algorithm in dark space, different imaging distances, lighting conditions, image noise, model error, and initial pose error, and meanwhile, the real trial qualitatively shows the effectiveness of our method.

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Section: Introductionmentioning

confidence: 88%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Model-based monocular 6-degree-of-freedom pose tracking for asteroid

Tang,

Liu,

et al. 2024

Front. Space Technol.

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“…The essence of the DM method is a template matching method based on distance. Many scholars have studied object recognition [26] and pose estimation [31] based on the DM method. However, they all extracted contour features of the object when using this method.…”

Section: The Distance Matching Methodsmentioning

confidence: 99%

“…Euclidean distance represents the exact distance between the template and the object image, and the other distances are approximate expressions of Euclidean distance [30]. The accuracy of the distance matching method depends on the accuracy of the given initial pose, and it is widely used to solve the pose based on contour features [31]. Hu et al [32] introduced a method to estimate the pose of the pipe, which firstly used a template matching method to estimate the pipe's initial pose, then used the least-squares method to obtain a more accurate pipe pose.…”

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

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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.

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Real-Time Crater-Based Monocular 3-D Pose Tracking for Planetary Landing and Navigation

Liu

Guo

et al. 2023

IEEE Trans. Aerosp. Electron. Syst.

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Real-Time Model-Based Monocular Pose Tracking for an Asteroid by Contour Fitting

Cited by 5 publications

References 74 publications

Model-based monocular 6-degree-of-freedom pose tracking for asteroid

Model-based monocular 6-degree-of-freedom pose tracking for asteroid

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

Real-Time Crater-Based Monocular 3-D Pose Tracking for Planetary Landing and Navigation

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