A videometrics method of cooperative object pose-measurement

Yueqiang Zhang; Yang Shang; Jianliang Ou; Xuan Ma

doi:10.1117/12.2197412

15 October 2015 A videometrics method of cooperative object pose-measurement

Yueqiang Zhang, Yang Shang, Jianliang Ou, Xuan Ma

Proceedings Volume 9676, AOPC 2015: Optical Design and Manufacturing Technologies; 967605 (2015) https://doi.org/10.1117/12.2197412
Event: Applied Optics and Photonics China (AOPC2015), 2015, Beijing, China

Abstract

A systematic videometrics method of cooperative object pose-measurement for RVD (rendezvous and docking) is proposed in the paper. According to the method, initial values of pose parameters are calculated from binocular images respectively, and then optimized with bundle adjustment. While a certain variation of some exterior parameters of one camera are added as systematic disturbance purposely, the correct result could be calculated theoretically as the method analysis, and then also is verified in our experiment. The correct result could be converged quickly and stably in the experiment, and accurate pose-measurement results also could be obtained while initial values are provided with some certain errors. Even some amount of disturbance has been added purposely in experiment, high-precision pose results are also obtained by the binocular and bundle adjustment way.

Citation Download Citation

Yueqiang Zhang, Yang Shang, Jianliang Ou, and Xuan Ma "A videometrics method of cooperative object pose-measurement", Proc. SPIE 9676, AOPC 2015: Optical Design and Manufacturing Technologies, 967605 (15 October 2015); https://doi.org/10.1117/12.2197412

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