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State Estimation of Axisymmetric Target Based on Beacon Linear Features and View Relation
Xiaohua Cao1, Shuaiyu Peng1, Daofan Liu1
1School of Logistics Engineering, Wuhan University of Technology, Wuhan 430063, China.
Sensors (Basel, Switzerland)
|September 10, 2021
Summary
This study introduces a new state estimation method for axisymmetric targets using beacon linear features and view relations. The proposed L-V method demonstrates superior accuracy and robustness compared to existing techniques.
Area of Science:
- Robotics and Computer Vision
- Geometric Modeling and State Estimation
Background:
- Accurate state estimation is crucial for robotic manipulation and control.
- Existing methods for axisymmetric targets may lack robustness and precision.
Purpose of the Study:
- To develop an improved state estimation method for axisymmetric targets.
- To enhance the accuracy and robustness of state estimation using visual and geometric features.
Main Methods:
- Utilized a depth camera for image and depth data acquisition.
- Extracted beacon line features using thinning and Hough transform.
- Constructed a rotation matrix model based on view relations for state solving.
Main Results:
- The proposed L-V (linear features and view relation) method was evaluated.
- Compared L-V method against C-H and C-IPPE methods using an axisymmetric shore power plug.
- Experimental results confirmed higher accuracy and robustness for the L-V method.
Conclusions:
- The L-V state estimation method offers significant improvements in accuracy and robustness.
- This method is effective for state estimation of axisymmetric targets in real-world applications.
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