Research on Static Vision-Based Target Localization for Astronaut Assistant Robots
Aiming at the problem of localizing and grasping targets by an astronaut assistant robot, developing assisting staff to complete specific tasks, and using a self-built visual system as an experimental platform, this paper proposes two improved static target localization methods based on binocular vi...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2019-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8824061/ |
| _version_ | 1818877597149298688 |
|---|---|
| author | Fengwei Gu Hongwei Gao Jinguo Liu Qing Gao Zhaojie Ju |
| author_facet | Fengwei Gu Hongwei Gao Jinguo Liu Qing Gao Zhaojie Ju |
| author_sort | Fengwei Gu |
| collection | DOAJ |
| description | Aiming at the problem of localizing and grasping targets by an astronaut assistant robot, developing assisting staff to complete specific tasks, and using a self-built visual system as an experimental platform, this paper proposes two improved static target localization methods based on binocular vision and the traditional localization method: (a) a localization method based on region of interest matching and (b) a localization method based on a pixel coordinate offset.Under the same conditions, the traditional binocular vision localization method and the two improved localization methods are used to locate a spherical target. The experimental results are compared and analysed, and the effectiveness of the improved methods is verified by two performance indicators: the localization accuracy and the localization time efficiency. The experimental results show that to a certain extent, the two improved localization methods can improve the localization efficiency of the vision system and positively affect the performance and flexibility of the astronaut assistant robots. |
| first_indexed | 2024-12-19T14:00:49Z |
| format | Article |
| id | doaj.art-27b96b542c904ddf87a9d072c825f802 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-19T14:00:49Z |
| publishDate | 2019-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-27b96b542c904ddf87a9d072c825f8022022-12-21T20:18:28ZengIEEEIEEE Access2169-35362019-01-01712839412840710.1109/ACCESS.2019.29393478824061Research on Static Vision-Based Target Localization for Astronaut Assistant RobotsFengwei Gu0https://orcid.org/0000-0001-5964-2022Hongwei Gao1Jinguo Liu2https://orcid.org/0000-0002-6790-6582Qing Gao3Zhaojie Ju4https://orcid.org/0000-0002-9524-7609School of Automation and Electrical Engineering, Shenyang Ligong University, Shenyang, ChinaSchool of Automation and Electrical Engineering, Shenyang Ligong University, Shenyang, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, ChinaAiming at the problem of localizing and grasping targets by an astronaut assistant robot, developing assisting staff to complete specific tasks, and using a self-built visual system as an experimental platform, this paper proposes two improved static target localization methods based on binocular vision and the traditional localization method: (a) a localization method based on region of interest matching and (b) a localization method based on a pixel coordinate offset.Under the same conditions, the traditional binocular vision localization method and the two improved localization methods are used to locate a spherical target. The experimental results are compared and analysed, and the effectiveness of the improved methods is verified by two performance indicators: the localization accuracy and the localization time efficiency. The experimental results show that to a certain extent, the two improved localization methods can improve the localization efficiency of the vision system and positively affect the performance and flexibility of the astronaut assistant robots.https://ieeexplore.ieee.org/document/8824061/Astronaut assistant robotbinocular visionregion of interestlocalization method |
| spellingShingle | Fengwei Gu Hongwei Gao Jinguo Liu Qing Gao Zhaojie Ju Research on Static Vision-Based Target Localization for Astronaut Assistant Robots IEEE Access Astronaut assistant robot binocular vision region of interest localization method |
| title | Research on Static Vision-Based Target Localization for Astronaut Assistant Robots |
| title_full | Research on Static Vision-Based Target Localization for Astronaut Assistant Robots |
| title_fullStr | Research on Static Vision-Based Target Localization for Astronaut Assistant Robots |
| title_full_unstemmed | Research on Static Vision-Based Target Localization for Astronaut Assistant Robots |
| title_short | Research on Static Vision-Based Target Localization for Astronaut Assistant Robots |
| title_sort | research on static vision based target localization for astronaut assistant robots |
| topic | Astronaut assistant robot binocular vision region of interest localization method |
| url | https://ieeexplore.ieee.org/document/8824061/ |
| work_keys_str_mv | AT fengweigu researchonstaticvisionbasedtargetlocalizationforastronautassistantrobots AT hongweigao researchonstaticvisionbasedtargetlocalizationforastronautassistantrobots AT jinguoliu researchonstaticvisionbasedtargetlocalizationforastronautassistantrobots AT qinggao researchonstaticvisionbasedtargetlocalizationforastronautassistantrobots AT zhaojieju researchonstaticvisionbasedtargetlocalizationforastronautassistantrobots |