A monocular vision-based approach to spatial cooperative target pose solving

Bo Wang; Wenhe Liao; Dong Wang; Xiang Zhang; Ronghua Du

doi:10.1117/12.3011786

7 December 2023 A monocular vision-based approach to spatial cooperative target pose solving

Bo Wang, Wenhe Liao, Dong Wang, Xiang Zhang, Ronghua Du

Proceedings Volume 12941, International Conference on Algorithms, High Performance Computing, and Artificial Intelligence (AHPCAI 2023); 129413P (2023) https://doi.org/10.1117/12.3011786
Event: Third International Conference on Algorithms, High Performance Computing, and Artificial Intelligence (AHPCAI 203), 2023, Yinchuan, China

Abstract

In this paper, a monocular vision measurement method based on feature detection and extraction and PnP algorithm is used to solve the relative pose of the spatial target, which is used to quickly and accurately determine the positional relationship between the two targets in space. Based on the structure of the spatial target, the pixel coordinates of four coplanar feature points and two non-coplanar feature points on the spatial target are extracted to the image using image processing methods, and then combined with the PnP problem based on six feature points is solved by combining the dimensional information of the spatial target, and the relative positions of the camera and the spatial target are solved. The experimental analysis shows that the spatial target position calculated by this method is close to the real result, which verifies the effectiveness of this method.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Bo Wang, Wenhe Liao, Dong Wang, Xiang Zhang, and Ronghua Du "A monocular vision-based approach to spatial cooperative target pose solving", Proc. SPIE 12941, International Conference on Algorithms, High Performance Computing, and Artificial Intelligence (AHPCAI 2023), 129413P (7 December 2023); https://doi.org/10.1117/12.3011786

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