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A 3D object tracking method for assisting teleoperation to perform space tasks

A technology for executing space and three-dimensional targets, applied in image analysis, image enhancement, instruments, etc., to achieve high tracking accuracy, fast speed, and ideal tracking effect

Active Publication Date: 2020-09-22
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In the early studies of space robot target perception, the known 3D target model was mainly used to solve this problem, but this method exposed an important problem: the accuracy of the model determines the accuracy of recognition

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  • A 3D object tracking method for assisting teleoperation to perform space tasks
  • A 3D object tracking method for assisting teleoperation to perform space tasks
  • A 3D object tracking method for assisting teleoperation to perform space tasks

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Embodiment Construction

[0047] Now in conjunction with embodiment the present invention will be further described:

[0048] The invention utilizes the RGB-D information and combines the particle filtering method to enable the space robot to better adapt to the unstructured environment and complete specified tasks. Proceed as follows:

[0049] Step 1: For the tracked space target, first acquire images with RGB-D information through the 3D vision sensor installed on the space robot.

[0050] Step 2: Divide the acquired image of RGB-D information into two parts, namely RGB information and D information, where the D information is the depth information of the space object, that is, the distance between the optical center of the lens of the three-dimensional vision sensor and the space object.

[0051] Step 3: convert the image of RGB information into a grayscale image;

[0052] Step 4: Bring the processed grayscale image into the particle filter method:

[0053] Under the particle filter framework, th...

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Abstract

The invention relates to a three-dimensional object tracking method assisting remote operation for space mission execution. Firstly, an acquired image with RGB-D information is divided into two parts;the image with the RGB information is converted to a gray level image; the gray level image subjected to treatment is processed by using a particle filtering method and is then converted to RGB information; the RGB information is fused with D information at the same time and a likelihood estimation method is applied such that a two-dimensional coordinate value enabling the value of a formula as indicated in the description to be the maximal is solved. The two-dimensional coordinate value is the location of a tracked space object. The method provided by the invention is high in efficiency andhigh in tracking efficiency. Depth information is utilized further, so that the tracking effect becomes more ideal, and the operability and the operation efficiency of a remote operation system are improved.

Description

technical field [0001] The invention belongs to the technical field of computer science and teleoperation, and relates to a three-dimensional target tracking method for assisting teleoperation to perform space tasks. Background technique [0002] Since the beginning of the 21st century, human beings have actively begun to expand the outer space. The ability to use outer space resources and develop space has become an important indicator of a country's comprehensive national strength. Space robots have gradually become an important means for human beings to explore outer space. Teleoperation, as an important control method to control space robots, replaces astronauts to perform extravehicular operations, and improves the safety and economy of outer space exploration. Now the use of space robots is gradually transitioning from a structured environment to an unstructured environment, so for space robots, it is becoming more and more important to interact with the space enviro...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/77
CPCG06T7/77G06T2207/10012G06T2207/10024
Inventor 黄攀峰齐志刚刘正雄孟中杰张夷斋张帆
Owner NORTHWESTERN POLYTECHNICAL UNIV
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