Methods of RVD object pose estimation and experiments

Yang Shang; Yan He; Weihua Wang; Qifeng Yu

doi:10.1117/12.773980

10 November 2007 Methods of RVD object pose estimation and experiments

Yang Shang, Yan He, Weihua Wang, Qifeng Yu

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Proceedings Volume 6795, Second International Conference on Space Information Technology; 67951P (2007) https://doi.org/10.1117/12.773980
Event: Second International Conference on Spatial Information Technology, 2007, Wuhan, China

Abstract

Methods of measuring a RVD (rendezvous and docking) cooperative object's pose from monocular and binocular images respectively are presented. The methods solve the initial values first and optimize the object pose parameters by bundle adjustment. In the disturbance-rejecting binocular method, chosen measurement system parameters of one camera's exterior parameters are modified simultaneously. The methods need three or more cooperative target points to measure the object's pose accurately. Experimental data show that the methods converge quickly and stably, provide accurate results and do not need accurate initial values. Even when the chosen measurement system parameters are subjected to some amount of disturbance, the binocular method manages to provide fairly accurate results.

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Yang Shang, Yan He, Weihua Wang, and Qifeng Yu "Methods of RVD object pose estimation and experiments", Proc. SPIE 6795, Second International Conference on Space Information Technology, 67951P (10 November 2007); https://doi.org/10.1117/12.773980

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