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6-DOF MOTION AND CENTER OF ROTATION ESTIMATION BASED ON stereo vision

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Chinese Journal of Mechanical Engineering 2008年第2期21卷 87-92页

作者： CAO Wanpeng BI Wei CHE Rensheng GUO Wenbo YE Dong Department of Automatic Measurement and Control Harbin Institute of Technology Harbin 150001 China China Academy of Machinery Science and Technology Beijing 100044 China Department of Electrical Engineering and Automation Harbin Institute of Technology Harbin 150001 China

A new motion model and estimation algorithm is proposed to compute the general rigid motion object＇s 6-DOF motion parameters and center of rotation based on stereo vision. The object＇s 6-DOF motion model is designed from the rigid object＇s motion character under the two defined reference frames. According to the rigid object＇s motion model and motion dynamics knowledge, the corresponding motion algorithm to compute the 6-DOF motion parameters is worked out. By the rigid object pure rotation motion model and space sphere geometry knowledge, the center of rotation may be calculated after eliminating the translation motion out of the 6-DOF motion. The motion equations are educed based on the motion model and the closed-form solutions are figured out. To heighten the motion estimation algorithm＇s robust, RANSAC algorithm is applied to delete the outliers. Simulation and real experiments are conducted and the experiment results are analyzed. The results prove the motion model＇s correction and algorithm＇s validity.

关键词： Motion estimation Center of rotation 6-DOF motion stereo vision

Deforming analysis of sheet metal based on stereo vision and coordinate grid

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Journal of University of Science and Technology Beijing 2004年第2期11卷 178-182页

作者： HongqinWei DehongYu XueyuRuan YouqingWang DepartmentofPlasticityTechnology ShanghaiJiaotongUniversityShanghai200030China DieorMouldandPlasticityProcessingResearchInstitute Xi＇anJiaotongUniversityXi＇an710049China

A new approach based on stereo vision technology is introduced to analyzesheet metal deformation. By measuring the deformed circle grids that are printed on the sheetsurface before forming, the strain distribution of the workpiece is obtained. The measurement andanalysis results can be used to verify numerical simulation results and guide production. To getgood accuracy, some new techniques are employed: camera calibration based on genetic algorithm,feature abstraction based on self-adaptive technology, image matching based on structure feature andcamera modeling pre-constrains, and parameter calculation based on curve and surface *** experimental values show that the approach proposed is rational and practical, which can providebetter measurement accuracy with less time than the conventional method.

关键词： sheet metal forming deforming analysis stereo vision coordinate grid

Large-scale 3D Semantic Mapping Using stereo vision

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International Journal of Automation and computing 2018年第2期15卷 194-206页

作者： Yi Yang Fan Qiu Hao Li Lu Zhang Mei-Ling Wang Meng-Yin Fu School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China Nanjing University of Science and Technology Nanjing 210094 China

In recent years, there have been a lot of interests in incorporating semantics into simultaneous localization and mapping （SLAM） systems. This paper presents an approach to generate an outdoor large-scale 3D dense semantic map based on binocular stereo vision. The inputs to system are stereo color images from a moving vehicle. First, dense 3D space around the vehicle is constructed, and tile motion of camera is estimated by visual odometry. Meanwhile, semantic segmentation is performed through the deep learning technology online, and the semantic labels are also used to verify tim feature matching in visual odometry. These three processes calculate the motion, depth and semantic label of every pixel in the input views. Then, a voxel conditional random field （CRF） inference is introduced to fuse semantic labels to voxel. After that, we present a method to remove the moving objects by incorporating the semantic labels, which improves the motion segmentation accuracy. The last is to generate tile dense 3D semantic map of an urban environment from arbitrary long image sequence. We evaluate our approach on KITTI vision benchmark, and the results show that the proposed method is effective.

关键词： Semantic map stereo vision motion segmentation visual odometry simultaneous localization and mapping (SLAM).

Cast shadow detection for moving objects based on binocular stereo vision

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Journal of Central South University 2014年第2期21卷 651-658页

作者：彭祺仲思东屠礼芬 School of Electronic Information Wuhan University

A novel cast shadow detection approach was proposed.A stereo vision system was used to capture images instead of traditional single *** was based on an assumption that cast shadows were on a special *** image obtained from one camera was inversely projected to the plane and then transformed to the view from another *** points on the plane shared the same position between original image and the transformed *** a result,the cast shadows can be *** order to improve the efficiency of cast shadow detection and decrease computational complexity,the obvious object areas in CIELAB color space were removed and the potential shadow areas were *** results demonstrate that the proposed approach can detect cast shadows accurately even under various illuminations.

关键词： cast shadow detection stereo vision moving objects flat ground

stereo vision-based Navigation and Guidance for Pinpoint Planetary Landing in Unknown Environments 36

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Stereo Vision-based Navigation and Guidance for Pinpoint Pla...

Convergence of stereo vision-Based Multimodal YOLOs for FasterDetection of Potholes

第36届中国控制会议

作者： Chao Xu Dayi Wang Xiangyu Huang Beijing Institute of Control Engineering Science and Technology of Space Intelligent Control Laboratory

ISBN: (纸本)9781538629185

An autonomous navigation and guidance system based on stereo vision measurements is presented for pinpoint planetary landing in unknown ***,a relative navigation coordinate system is established based on the stereo vision measurements of unknown landmarks and the positions of the unknown landmarks in the relative navigation coordinate system are *** the position,velocity and attitude of the spacecraft expressed in the relative navigation coordinate system are ***,based on the estimated states of the spacecraft and the position of landing site calculated from its stereo vision measurements,the guidance command is computed by the Apollo guidance *** numerical simulation results for Mars landing indicate that the proposed navigation and guidance method is effective and feasible.

关键词： Navigation and guidance stereo vision Pinpoint planetary landing Unknown environments

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Computers, Materials & Continua 2022年第11期73卷 2821-2834页

作者： Sungan Yoon Jeongho Cho Department of Electrical Engineering Soonchunhyang UniversityAsan31538Korea

Road potholes can cause serious social issues,such as unexpected damages to vehicles and traffic *** efficient road management,technologies that quickly find potholes are required,and thus researches on such technologies have been conducted *** three-dimensional(3D)reconstruction method has relatively high accuracy and can be used in practice but it has limited application owing to its long data processing time and high sensor maintenance *** two-dimensional(2D)vision method has the advantage of inexpensive and easy application of ***,although the 2D vision method using the convolutional neural network(CNN)has shown improved pothole detection performance and adaptability,large amount of data is required to sufficiently train the ***,we propose a method to improve the learning performance of CNN-based object detection model by artificially generating synthetic data similar to a pothole and enhancing the learning ***,to make the defective areas appear more contrasting,the transformed disparity map(TDM)was calculated using stereo-vision cameras,and the detection performance of the model was further improved through the late fusion with RGB(Red,Green,Blue)***,through the convergence of multimodal You Only Look Once(YOLO)frameworks trained by RGB images and TDMs respectively,the detection performance was enhanced by 10.7%compared with that when using only ***,the superiority of the proposed method was confirmed by showing that the data processing speed was two times faster than the existing 3D reconstruction method.

关键词： CNN YOLO disparity map stereo vision pothole

FlockSeer:A portable stereo vision observer for bird flocking

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IET Cyber-Systems and Robotics 2024年第3期6卷 74-86页

作者： Yuhui Ai Haozhou Zhai Zijie Sun Weiming Yan Tianjiang Hu School of Artificial Intelligence Sun Yat‐sen UniversityZhuhaiChina School of Aeronautics and Astronautics Sun Yatsen UniversityShenzhenChina

Bird flocking is a paradigmatic case of self‐organised collective behaviours in *** camera systems are employed to observe flocks of starlings,jackdaws,and chimney swifts,mainly on a spot‐fixed basis.A portable non‐fixed stereo vision‐based flocking observation system,namely FlockSeer,is developed by the authors for observing more species of bird flocks within field *** portable flocking observer,FlockSeer,responds to the challenges in extrinsic calibration,camera synchronisation and field movability compared to existing spot‐fixed observing systems.A measurement and sensor fusion approach is utilised for rapid calibration,and a light‐based synchronisation approach is used to simplify hardware *** has been implemented and tested across six cities in three provinces and has accomplished diverse flock‐tracking tasks,accumulating behavioural data of four species,including egrets,with up to 300 resolvable *** authors reconstructed the trajectories of a flock of egrets under disturbed conditions to verify the practicality and *** addition,we analysed the accuracy of identifying nearest neighbours,and then examined the similarity between the trajectories and the Couzin *** results demonstrate that the developed flocking observing system is highly portable,more convenient and swift to deploy in wetland‐like or coast‐like *** observation process is reliable and practical and can effectively support the study of understanding and modelling of bird flocking behaviours.

关键词： avian flight camera calibration camera system collective behaviour stereo vision

Error distribution modeling for stereo vision system

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Journal of Beijing Institute of Technology 2016年第S2期25卷 139-142页

作者：刘宗明卢山张宇曹姝清叶东 School of Electrical Engineering and Automation Harbin Institute of Technology Shanghai Institute of Spaceflight Control Technology Shanghai Key Laboratory of Space Intelligent Control Technology

In order to complete the measurement of relative position and attitude for a malfunction satellite or space debris and some other non-cooperative targets in short range,we analyze the factors that affect the measurement accuracy including the image feature extraction accuracy,the focal length calibration precision,the rotation matrix and the baseline calibration precision between two cameras,based on the principles of photogrammetry and the measurement *** analysis results indicate that under the constraints in our design,the distance error could be controlled below0.1 *** analysis of the error affecting factors for stereo vision measurement system will guide the system design and engineering application.

关键词： stereo vision debris relative measurement error distribution

Autonomous SLAM Technique with stereo vision

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Autonomous SLAM Technique with Stereo Vision