Computationally Efficient Iterative Pose Estimation for Space Robot Based on Vision
Joint Authors
Source
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-7, 7 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-02-07
Country of Publication
Egypt
No. of Pages
7
Main Subjects
Abstract EN
In postestimation problem for space robot, photogrammetry has been used to determine the relative pose between an object and a camera.
The calculation of the projection from two-dimensional measured data to three-dimensional models is of utmost importance in this vision-based estimation however, this process is usually time consuming, especially in the outer space environment with limited performance of hardware.
This paper proposes a computationally efficient iterative algorithm for pose estimation based on vision technology.
In this method, an error function is designed to estimate the object-space collinearity error, and the error is minimized iteratively for rotation matrix based on the absolute orientation information.
Experimental result shows that this approach achieves comparable accuracy with the SVD-based methods; however, the computational time has been greatly reduced due to the use of the absolute orientation method.
American Psychological Association (APA)
Wu, Xiang& Wu, Ning. 2013. Computationally Efficient Iterative Pose Estimation for Space Robot Based on Vision. Journal of Robotics،Vol. 2013, no. 2013, pp.1-7.
https://search.emarefa.net/detail/BIM-491046
Modern Language Association (MLA)
Wu, Xiang& Wu, Ning. Computationally Efficient Iterative Pose Estimation for Space Robot Based on Vision. Journal of Robotics No. 2013 (2013), pp.1-7.
https://search.emarefa.net/detail/BIM-491046
American Medical Association (AMA)
Wu, Xiang& Wu, Ning. Computationally Efficient Iterative Pose Estimation for Space Robot Based on Vision. Journal of Robotics. 2013. Vol. 2013, no. 2013, pp.1-7.
https://search.emarefa.net/detail/BIM-491046
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-491046