Real-time HALCON-based pose measurement system for an astronaut assistant robot

Lihong Dai; Jinguo Liu; Zhaojie Ju; Yuwang Liu

doi:10.1007/978-3-319-97586-3_33

Real-time HALCON-based pose measurement system for an astronaut assistant robot

Lihong Dai, Jinguo Liu, Zhaojie Ju, Yuwang Liu

School of Computing

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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Abstract

The manned space program in China has entered the space station stage. Space astronauts normally have very limited time for certain tasks, so in order to free space astronauts from some repetitive routine tasks, various robots in space appear. Free-flying robots in space can also provide conditions for various scientific experiments with their unique microgravity advantages. The measurement of their positions and attitudes is the premise of their autonomous flight and remote operations. So, the pose measurements system of the Astronaut Assistant Robot is designed in this paper. With the camera calibrated, the image is acquired and processed in real time, and the robot is tracked in real time. In the end poses are estimated by virtue of PnP algorithm. The pose measurements system is modeled and simulated, with an automatic global threshold method to improve the reliability of the system. In addition, a series of measures are adopted to improve its efficiency with a satisfactory accuracy. The experimental results show that the measurement system meets the requirements of both effectiveness and efficiency.

Original language	English
Title of host publication	Intelligent Robotics and Applications
Subtitle of host publication	11th International Conference, ICIRA 2018, Newcastle, NSW, Australia, August 9–11, 2018, Proceedings, Part I
Editors	Zhiyong Chen, Alexandre Mendes, Yamin Yan, Shifeng Chen
Publisher	Springer
Pages	366-378
ISBN (Electronic)	978-3-319-97586-3
ISBN (Print)	978-3-319-97585-6
DOIs	https://doi.org/10.1007/978-3-319-97586-3_33
Publication status	Published - Sept 2018
Event	11th International Conference on Intelligent Robotics and Applications - Australia, Newcastle, Australia Duration: 9 Aug 2018 → 11 Aug 2018 http://www.icira2018.org

Publication series

Name	Lecture Notes in Computer Science
Publisher	Springer
Volume	10984
ISSN (Print)	0302-9743

Conference

Conference	11th International Conference on Intelligent Robotics and Applications
Abbreviated title	ICIRA 2018
Country/Territory	Australia
City	Newcastle
Period	9/08/18 → 11/08/18
Internet address	http://www.icira2018.org

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10.1007/978-3-319-97586-3_33

Real-Time HALCON-Based Pose Measurement System for an Astronaut Assistant Robot
The final authenticated version is available online at: https://doi.org/10.1007%2F978-3-319-97586-3_33.
Accepted author manuscript (Post-print), 405 KB

Cite this

Dai, L., Liu, J., Ju, Z., & Liu, Y. (2018). Real-time HALCON-based pose measurement system for an astronaut assistant robot. In Z. Chen, A. Mendes, Y. Yan, & S. Chen (Eds.), Intelligent Robotics and Applications: 11th International Conference, ICIRA 2018, Newcastle, NSW, Australia, August 9–11, 2018, Proceedings, Part I (pp. 366-378). (Lecture Notes in Computer Science; Vol. 10984). Springer. https://doi.org/10.1007/978-3-319-97586-3_33

Dai, Lihong ; Liu, Jinguo ; Ju, Zhaojie et al. / Real-time HALCON-based pose measurement system for an astronaut assistant robot. Intelligent Robotics and Applications: 11th International Conference, ICIRA 2018, Newcastle, NSW, Australia, August 9–11, 2018, Proceedings, Part I. editor / Zhiyong Chen ; Alexandre Mendes ; Yamin Yan ; Shifeng Chen. Springer, 2018. pp. 366-378 (Lecture Notes in Computer Science).

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title = "Real-time HALCON-based pose measurement system for an astronaut assistant robot",

abstract = "The manned space program in China has entered the space station stage. Space astronauts normally have very limited time for certain tasks, so in order to free space astronauts from some repetitive routine tasks, various robots in space appear. Free-flying robots in space can also provide conditions for various scientific experiments with their unique microgravity advantages. The measurement of their positions and attitudes is the premise of their autonomous flight and remote operations. So, the pose measurements system of the Astronaut Assistant Robot is designed in this paper. With the camera calibrated, the image is acquired and processed in real time, and the robot is tracked in real time. In the end poses are estimated by virtue of PnP algorithm. The pose measurements system is modeled and simulated, with an automatic global threshold method to improve the reliability of the system. In addition, a series of measures are adopted to improve its efficiency with a satisfactory accuracy. The experimental results show that the measurement system meets the requirements of both effectiveness and efficiency.",

author = "Lihong Dai and Jinguo Liu and Zhaojie Ju and Yuwang Liu",

year = "2018",

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doi = "10.1007/978-3-319-97586-3_33",

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editor = "Zhiyong Chen and Alexandre Mendes and Yamin Yan and Shifeng Chen",

booktitle = "Intelligent Robotics and Applications",

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Dai, L, Liu, J, Ju, Z & Liu, Y 2018, Real-time HALCON-based pose measurement system for an astronaut assistant robot. in Z Chen, A Mendes, Y Yan & S Chen (eds), Intelligent Robotics and Applications: 11th International Conference, ICIRA 2018, Newcastle, NSW, Australia, August 9–11, 2018, Proceedings, Part I. Lecture Notes in Computer Science, vol. 10984, Springer, pp. 366-378, 11th International Conference on Intelligent Robotics and Applications, Newcastle, New South Wales, Australia, 9/08/18. https://doi.org/10.1007/978-3-319-97586-3_33

Real-time HALCON-based pose measurement system for an astronaut assistant robot. / Dai, Lihong; Liu, Jinguo; Ju, Zhaojie et al.
Intelligent Robotics and Applications: 11th International Conference, ICIRA 2018, Newcastle, NSW, Australia, August 9–11, 2018, Proceedings, Part I. ed. / Zhiyong Chen; Alexandre Mendes; Yamin Yan; Shifeng Chen. Springer, 2018. p. 366-378 (Lecture Notes in Computer Science; Vol. 10984).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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T1 - Real-time HALCON-based pose measurement system for an astronaut assistant robot

AU - Dai, Lihong

AU - Liu, Jinguo

AU - Ju, Zhaojie

AU - Liu, Yuwang

PY - 2018/9

Y1 - 2018/9

N2 - The manned space program in China has entered the space station stage. Space astronauts normally have very limited time for certain tasks, so in order to free space astronauts from some repetitive routine tasks, various robots in space appear. Free-flying robots in space can also provide conditions for various scientific experiments with their unique microgravity advantages. The measurement of their positions and attitudes is the premise of their autonomous flight and remote operations. So, the pose measurements system of the Astronaut Assistant Robot is designed in this paper. With the camera calibrated, the image is acquired and processed in real time, and the robot is tracked in real time. In the end poses are estimated by virtue of PnP algorithm. The pose measurements system is modeled and simulated, with an automatic global threshold method to improve the reliability of the system. In addition, a series of measures are adopted to improve its efficiency with a satisfactory accuracy. The experimental results show that the measurement system meets the requirements of both effectiveness and efficiency.

AB - The manned space program in China has entered the space station stage. Space astronauts normally have very limited time for certain tasks, so in order to free space astronauts from some repetitive routine tasks, various robots in space appear. Free-flying robots in space can also provide conditions for various scientific experiments with their unique microgravity advantages. The measurement of their positions and attitudes is the premise of their autonomous flight and remote operations. So, the pose measurements system of the Astronaut Assistant Robot is designed in this paper. With the camera calibrated, the image is acquired and processed in real time, and the robot is tracked in real time. In the end poses are estimated by virtue of PnP algorithm. The pose measurements system is modeled and simulated, with an automatic global threshold method to improve the reliability of the system. In addition, a series of measures are adopted to improve its efficiency with a satisfactory accuracy. The experimental results show that the measurement system meets the requirements of both effectiveness and efficiency.

U2 - 10.1007/978-3-319-97586-3_33

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M3 - Conference contribution

SN - 978-3-319-97585-6

T3 - Lecture Notes in Computer Science

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EP - 378

BT - Intelligent Robotics and Applications

A2 - Chen, Zhiyong

A2 - Mendes, Alexandre

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Dai L, Liu J, Ju Z, Liu Y. Real-time HALCON-based pose measurement system for an astronaut assistant robot. In Chen Z, Mendes A, Yan Y, Chen S, editors, Intelligent Robotics and Applications: 11th International Conference, ICIRA 2018, Newcastle, NSW, Australia, August 9–11, 2018, Proceedings, Part I. Springer. 2018. p. 366-378. (Lecture Notes in Computer Science). Epub 2018 Aug 3. doi: 10.1007/978-3-319-97586-3_33

Real-time HALCON-based pose measurement system for an astronaut assistant robot

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