Visual tracking and positioning for an astronaut assistant robot

Lihong Dai; Jinguo Liu; Zhaojie Ju

doi:10.1109/IISR.2018.8535853

Visual tracking and positioning for an astronaut assistant robot

Lihong Dai, Jinguo Liu, Zhaojie Ju

School of Computing

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

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Abstract

Cabin robot can provide assistance for astronauts in the cabin. On the one hand, it can be used to alarm the smoke and other contingencies in the cabin to ensure personal safety. On the other hand, when astronauts are lonely, it can monitor the mental/physical health of the astronauts in the cabin. For this purpose, real-time visual tracking and positioning of the second generation Astronaut Assistant Robot (AAR-2) is carried out. Because of the limitation of the cabin space, with the movements of the robot, sometimes only the local/partial images of targets can be captured by camera. So how to carry out the tracking and pose calculation through those partial images is a challenge. The paper proposes an integration method with a target feature template and a local search algorithm to track a moving target in real time, where the position and attitude of the camera are calculated using the PnP algorithm. Camera calibration and moving target tracking are expounded in detail. Furthermore, the accuracy is verified by experimental results. It turns out that the visual positioning system meets the precision requirement in real time.

Original language	English
Title of host publication	2018 IEEE International Conference on Intelligence and Safety for Robotics
Subtitle of host publication	ISR
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	435-440
Number of pages	6
ISBN (Electronic)	978-1-5386-5547-4
ISBN (Print)	978-1-5386-5548-1
DOIs	https://doi.org/10.1109/IISR.2018.8535853
Publication status	Published - 15 Nov 2018
Event	2018 IEEE International Conference on Intelligence and Safety for Robotics - Shenyang, China Duration: 24 Aug 2018 → 24 Aug 2018

Conference

Conference	2018 IEEE International Conference on Intelligence and Safety for Robotics
Abbreviated title	ISR
Period	24/08/18 → 24/08/18

Keywords

Astronaut Assistant Robot
Local Search
Positioning
Target Feature Template

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10.1109/IISR.2018.8535853

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Accepted author manuscript (Post-print), 2.56 MB

https://ieeexplore.ieee.org/document/8535853

Cite this

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title = "Visual tracking and positioning for an astronaut assistant robot",

abstract = "Cabin robot can provide assistance for astronauts in the cabin. On the one hand, it can be used to alarm the smoke and other contingencies in the cabin to ensure personal safety. On the other hand, when astronauts are lonely, it can monitor the mental/physical health of the astronauts in the cabin. For this purpose, real-time visual tracking and positioning of the second generation Astronaut Assistant Robot (AAR-2) is carried out. Because of the limitation of the cabin space, with the movements of the robot, sometimes only the local/partial images of targets can be captured by camera. So how to carry out the tracking and pose calculation through those partial images is a challenge. The paper proposes an integration method with a target feature template and a local search algorithm to track a moving target in real time, where the position and attitude of the camera are calculated using the PnP algorithm. Camera calibration and moving target tracking are expounded in detail. Furthermore, the accuracy is verified by experimental results. It turns out that the visual positioning system meets the precision requirement in real time.",

keywords = "Astronaut Assistant Robot, Local Search, Positioning, Target Feature Template",

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

year = "2018",

month = nov,

day = "15",

doi = "10.1109/IISR.2018.8535853",

language = "English",

isbn = "978-1-5386-5548-1",

pages = "435--440",

booktitle = "2018 IEEE International Conference on Intelligence and Safety for Robotics",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "2018 IEEE International Conference on Intelligence and Safety for Robotics, ISR ; Conference date: 24-08-2018 Through 24-08-2018",

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Dai, L, Liu, J & Ju, Z 2018, Visual tracking and positioning for an astronaut assistant robot. in 2018 IEEE International Conference on Intelligence and Safety for Robotics: ISR. Institute of Electrical and Electronics Engineers Inc., pp. 435-440, 2018 IEEE International Conference on Intelligence and Safety for Robotics, 24/08/18. https://doi.org/10.1109/IISR.2018.8535853

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T1 - Visual tracking and positioning for an astronaut assistant robot

AU - Dai, Lihong

AU - Liu, Jinguo

AU - Ju, Zhaojie

PY - 2018/11/15

Y1 - 2018/11/15

N2 - Cabin robot can provide assistance for astronauts in the cabin. On the one hand, it can be used to alarm the smoke and other contingencies in the cabin to ensure personal safety. On the other hand, when astronauts are lonely, it can monitor the mental/physical health of the astronauts in the cabin. For this purpose, real-time visual tracking and positioning of the second generation Astronaut Assistant Robot (AAR-2) is carried out. Because of the limitation of the cabin space, with the movements of the robot, sometimes only the local/partial images of targets can be captured by camera. So how to carry out the tracking and pose calculation through those partial images is a challenge. The paper proposes an integration method with a target feature template and a local search algorithm to track a moving target in real time, where the position and attitude of the camera are calculated using the PnP algorithm. Camera calibration and moving target tracking are expounded in detail. Furthermore, the accuracy is verified by experimental results. It turns out that the visual positioning system meets the precision requirement in real time.

AB - Cabin robot can provide assistance for astronauts in the cabin. On the one hand, it can be used to alarm the smoke and other contingencies in the cabin to ensure personal safety. On the other hand, when astronauts are lonely, it can monitor the mental/physical health of the astronauts in the cabin. For this purpose, real-time visual tracking and positioning of the second generation Astronaut Assistant Robot (AAR-2) is carried out. Because of the limitation of the cabin space, with the movements of the robot, sometimes only the local/partial images of targets can be captured by camera. So how to carry out the tracking and pose calculation through those partial images is a challenge. The paper proposes an integration method with a target feature template and a local search algorithm to track a moving target in real time, where the position and attitude of the camera are calculated using the PnP algorithm. Camera calibration and moving target tracking are expounded in detail. Furthermore, the accuracy is verified by experimental results. It turns out that the visual positioning system meets the precision requirement in real time.

KW - Astronaut Assistant Robot

KW - Local Search

KW - Positioning

KW - Target Feature Template

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U2 - 10.1109/IISR.2018.8535853

DO - 10.1109/IISR.2018.8535853

M3 - Conference contribution

SN - 978-1-5386-5548-1

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EP - 440

BT - 2018 IEEE International Conference on Intelligence and Safety for Robotics

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 IEEE International Conference on Intelligence and Safety for Robotics

Y2 - 24 August 2018 through 24 August 2018

ER -

Visual tracking and positioning for an astronaut assistant robot

Abstract

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Keywords

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