This article presents the experimental investigation of the fusion concept of two relative position and orientation (pose) estimates of the rotating target using single Photonic Mixer Device (pmd) sensor for the frame...
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ISBN:
(纸本)9783030134686;9783030134693
This article presents the experimental investigation of the fusion concept of two relative position and orientation (pose) estimates of the rotating target using single Photonic Mixer Device (pmd) sensor for the frame-to-frame tracking. For each frame pmd depth sensor provides co-registered depth and amplitude images of the scene. We propose to use two different pose estimation techniques for each of the data channel with a further fusion of its measured state vectors. The fusion architecture of the state measurements is based on a low complexity weighted average algorithm. The weights for the fusion operator are calculated experimentally with the real data from pmd sensor mounted on DLR's European Proximity Operations Simulator. The fused state vector obtained with experimental results outperforms the accuracy of the two incoming pose measurements. This allows us to ensure robust pose estimation of a rotating target for the whole tracking.
In this paper, a novel approach for the detection of parcel loading positions on a pallet is presented. This approach realizes a substantial change in comparison to traditional system design of contour detection in de...
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ISBN:
(纸本)9781467352215;9781467352208
In this paper, a novel approach for the detection of parcel loading positions on a pallet is presented. This approach realizes a substantial change in comparison to traditional system design of contour detection in de-palletizing processes. Complex 3D-vision systems, costly laser scanners or throughput decreasing local sensor solutions integrated in grippers are substituted by a low-cost Photonic Mixing Device (pmd) camera. By combining pmd technology and a predetermined model of loading situations, stored during the assembly of the pallet, this approach can compensate for the drawbacks of each respective system. An essential part of the approach are computer-graphics methods specific to the given problem to both detect the deviation between the nominal and the actual loading position and if necessary an automated correction of the packaging scheme. From an economic point of view this approach can decrease the costs of mandatory contour checking in automated de-palletizing processes.
This paper addresses the validation of a robust vision-based pose estimation technique using a Photonic Mixer Device (pmd) sensor as a single visual sensor in the close-range phase of spacecraft rendezvous. First, it ...
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This paper addresses the validation of a robust vision-based pose estimation technique using a Photonic Mixer Device (pmd) sensor as a single visual sensor in the close-range phase of spacecraft rendezvous. First, it was necessary to integrate the developed hybrid navigation technique for the pmd sensor into the hardware-in-the-loop (HIL) rendezvous system developed by the German Aerospace Center (DLR). Thereafter, HIL tests were conducted using the European Proximity Operation Simulator (EPOS) with sun simulation and in total darkness. For the future missions with an active sensor, e.g., a pmd camera, it could be useful to use only its own illumination during the rendezvous phase in penumbra or umbra, instead of additional flash light. In some tests, the rotational rate of the target object was also tuned. Unlike the rendezvous tests in other works, here we present for the first time closed-loop approaches with only depth and amplitude images of a pmd sensor. For the rendezvous tests in the EPOS laboratory, the Argos3D camera was used at the range of 8 to 5.5 m;the performance showed promising results.
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