Visual capture method of non-cooperative target based on hand-eye camera

Licheng Liu; Kun Yu; Jiajia Duan; Jingwen Zhu; Xiaotong Zhang

doi:10.1117/12.2552243

31 January 2020 Visual capture method of non-cooperative target based on hand-eye camera

Licheng Liu, Kun Yu, Jiajia Duan, Jingwen Zhu, Xiaotong Zhang

Proceedings Volume 11427, Second Target Recognition and Artificial Intelligence Summit Forum; 114272B (2020) https://doi.org/10.1117/12.2552243
Event: Second Target Recognition and Artificial Intelligence Summit Forum, 2019, Changchun, China

Abstract

During the capture operation, the hand-eye camera measures the spatial position of the center of the docking ring. However, the center can’t be used as a direct capture point, so we need to find a suitable capture point on the docking ring. This point can be connected with the center of the docking ring while satisfying the capture of the manipulator. This paper presents a method to find the capture point based on the intersection of the circle and a straight line, consisting of the image main point and the center of the circle. Furthermore, an algorithm for calculating the spatial position of the capture point is proposed. The digital and semi-physical simulation experiments verify the effectiveness of the method. The results show the position error of the capture point is within 0.8mm, and the capture angle error is within 0.4°.

Citation Download Citation

Licheng Liu, Kun Yu, Jiajia Duan, Jingwen Zhu, and Xiaotong Zhang "Visual capture method of non-cooperative target based on hand-eye camera", Proc. SPIE 11427, Second Target Recognition and Artificial Intelligence Summit Forum, 114272B (31 January 2020); https://doi.org/10.1117/12.2552243

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