Single-Camera Refueling Boom Pose Detection Using 3D Constraints

The patent segments the refueling boom into multiple rigid body components (e.g., booms, stabilizers, counterweights) with defined joint relationships. This segmentation allows the system to model complex movements by composing transformations of individual segments, enabling accurate pose estimation from single-camera 2D images while reducing the need for complex stereoscopic vision systems.

The patent transforms the 3D pose estimation problem into a 2D image analysis problem by projecting the segmented boom model onto the camera's image plane. By working in 2D image coordinates and using constraints from the known 3D segment relationships, the system achieves accurate pose measurement with a single camera, effectively using dimensionality change to resolve the precision-complexity contradiction.

The patent performs preliminary segmentation of the refueling boom into rigid body components with pre-defined joint constraints and spatial relationships before the actual pose detection process. This preliminary structuring allows the optimization algorithm to work with constrained parameters rather than free variables, significantly reducing computational load during real-time operation while maintaining high productivity.

The patent implements an iterative optimization process where the pose estimation algorithm continuously refines its solution by comparing predicted 2D projections with actual camera observations and adjusting parameters based on feedback from constraint satisfaction. This feedback mechanism enables accurate real-time pose detection with reduced computational requirements compared to exhaustive search methods.