COAXIALITY CALCULATION METHOD FOR DROPPING OPERATION OF LUNAR SURFACE SAMPLING MISSION BASED ON MONOCULAR VISION USING ELLIPSE AND LINE FEATURES

In the lunar surface sampling mission, the drop operation that transferring the packaging container into the sample return container is a vital step. In this paper, for supporting the drop operation, we proposed a method to measure the coaxiality between the two containers based on the monocular vis...

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Main Authors: Z. Bo, W. Wan, C. Liu, K. Di, Z. Liu, M. Peng, Y. Wang
Format: Article
Language:English
Published: Copernicus Publications 2020-08-01
Series:The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
Online Access:https://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XLIII-B3-2020/1099/2020/isprs-archives-XLIII-B3-2020-1099-2020.pdf
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spelling doaj-1f60aa6f9eb8403298991a679e4e21222020-11-25T03:54:43ZengCopernicus PublicationsThe International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences1682-17502194-90342020-08-01XLIII-B3-20201099110410.5194/isprs-archives-XLIII-B3-2020-1099-2020COAXIALITY CALCULATION METHOD FOR DROPPING OPERATION OF LUNAR SURFACE SAMPLING MISSION BASED ON MONOCULAR VISION USING ELLIPSE AND LINE FEATURESZ. Bo0W. Wan1C. Liu2K. Di3Z. Liu4M. Peng5Y. Wang6State Key Laboratory of Remote Sensing Science, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, ChinaState Key Laboratory of Remote Sensing Science, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, ChinaBeijing Aerospace Control Center, Beijing, ChinaState Key Laboratory of Remote Sensing Science, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, ChinaState Key Laboratory of Remote Sensing Science, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, ChinaState Key Laboratory of Remote Sensing Science, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, ChinaState Key Laboratory of Remote Sensing Science, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, ChinaIn the lunar surface sampling mission, the drop operation that transferring the packaging container into the sample return container is a vital step. In this paper, for supporting the drop operation, we proposed a method to measure the coaxiality between the two containers based on the monocular vision pose measurement using ellipse and line features. The method first extracts ellipse and line features in the 2D image to calculate the initial parameters. Then, the initial parameters and the point set are used to fit the curve by the cylinder perspective contours fitting method, where the constraints between ellipse and line features are used to improve the robustness to varying noises. Next, given the fitting ellipse and camera parameters, the pose of the packaging container is solved by using circle-based method. Finally, the coaxiality of the two containers is calculated based on the relative pose between them. Simulation experiments were carried out and the results show the effectiveness and reliability of the proposed method.https://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XLIII-B3-2020/1099/2020/isprs-archives-XLIII-B3-2020-1099-2020.pdf
collection DOAJ
language English
format Article
sources DOAJ
author Z. Bo
W. Wan
C. Liu
K. Di
Z. Liu
M. Peng
Y. Wang
spellingShingle Z. Bo
W. Wan
C. Liu
K. Di
Z. Liu
M. Peng
Y. Wang
COAXIALITY CALCULATION METHOD FOR DROPPING OPERATION OF LUNAR SURFACE SAMPLING MISSION BASED ON MONOCULAR VISION USING ELLIPSE AND LINE FEATURES
The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
author_facet Z. Bo
W. Wan
C. Liu
K. Di
Z. Liu
M. Peng
Y. Wang
author_sort Z. Bo
title COAXIALITY CALCULATION METHOD FOR DROPPING OPERATION OF LUNAR SURFACE SAMPLING MISSION BASED ON MONOCULAR VISION USING ELLIPSE AND LINE FEATURES
title_short COAXIALITY CALCULATION METHOD FOR DROPPING OPERATION OF LUNAR SURFACE SAMPLING MISSION BASED ON MONOCULAR VISION USING ELLIPSE AND LINE FEATURES
title_full COAXIALITY CALCULATION METHOD FOR DROPPING OPERATION OF LUNAR SURFACE SAMPLING MISSION BASED ON MONOCULAR VISION USING ELLIPSE AND LINE FEATURES
title_fullStr COAXIALITY CALCULATION METHOD FOR DROPPING OPERATION OF LUNAR SURFACE SAMPLING MISSION BASED ON MONOCULAR VISION USING ELLIPSE AND LINE FEATURES
title_full_unstemmed COAXIALITY CALCULATION METHOD FOR DROPPING OPERATION OF LUNAR SURFACE SAMPLING MISSION BASED ON MONOCULAR VISION USING ELLIPSE AND LINE FEATURES
title_sort coaxiality calculation method for dropping operation of lunar surface sampling mission based on monocular vision using ellipse and line features
publisher Copernicus Publications
series The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences
issn 1682-1750
2194-9034
publishDate 2020-08-01
description In the lunar surface sampling mission, the drop operation that transferring the packaging container into the sample return container is a vital step. In this paper, for supporting the drop operation, we proposed a method to measure the coaxiality between the two containers based on the monocular vision pose measurement using ellipse and line features. The method first extracts ellipse and line features in the 2D image to calculate the initial parameters. Then, the initial parameters and the point set are used to fit the curve by the cylinder perspective contours fitting method, where the constraints between ellipse and line features are used to improve the robustness to varying noises. Next, given the fitting ellipse and camera parameters, the pose of the packaging container is solved by using circle-based method. Finally, the coaxiality of the two containers is calculated based on the relative pose between them. Simulation experiments were carried out and the results show the effectiveness and reliability of the proposed method.
url https://www.int-arch-photogramm-remote-sens-spatial-inf-sci.net/XLIII-B3-2020/1099/2020/isprs-archives-XLIII-B3-2020-1099-2020.pdf
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