Research of robot arm positioning method based on Hazard camera
- Paper number
IAC-13,A3,P,26.p1,x17469
- Coauthor
Mrs. Jia WANG, 1)Science and Technology on Aerospace Flight Dynamics Laboratory, China,2)Beijing Aerospace Control Center, China, China
- Coauthor
Dr. Baofeng WANG, 1)Science and Technology on Aerospace Flight Dynamics Laboratory, China,2)Beijing Aerospace Control Center, China, China
- Coauthor
Mr. Man PENG, Institute of Remote Sensing and Digital Earth, Chinese Academy of Sciences, Beijing, China
- Year
2013
- Abstract
According to the science application of lunar rover of Chang’e-3 project, a method based on stereo vision is proposed in the paper for robot arm plane positioning. Firstly, hazard camera imaging model is summarized and spherical projection is transformed to perspective projection, furthermore, epipolar images are complemented from the original fisheye images; Secondly, least square matching is applied to find the corresponding target points; Finally, the target coordinates were calculated by forward intersection, and the target plane normals are calculated. Robot arm location experiments were performed in a simulated lunar environment, the positioning results successfully guided the arm detection, and experimental results show that this method can achieve higher precision.
- Abstract document
- Manuscript document
IAC-13,A3,P,26.p1,x17469.pdf (🔒 authorized access only).
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