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Proceedings Paper

Visual capture method of non-cooperative target based on hand-eye camera
Author(s): Licheng Liu; Kun Yu; Jiajia Duan; Jingwen Zhu; Xiaotong Zhang
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Paper Abstract

During the capture operation, the hand-eye camera measures the spatial position of the center of the docking ring. However, the center can’t be used as a direct capture point, so we need to find a suitable capture point on the docking ring. This point can be connected with the center of the docking ring while satisfying the capture of the manipulator. This paper presents a method to find the capture point based on the intersection of the circle and a straight line, consisting of the image main point and the center of the circle. Furthermore, an algorithm for calculating the spatial position of the capture point is proposed. The digital and semi-physical simulation experiments verify the effectiveness of the method. The results show the position error of the capture point is within 0.8mm, and the capture angle error is within 0.4°.

Paper Details

Date Published: 31 January 2020
PDF: 6 pages
Proc. SPIE 11427, Second Target Recognition and Artificial Intelligence Summit Forum, 114272B (31 January 2020); doi: 10.1117/12.2552243
Show Author Affiliations
Licheng Liu, Shanghai Aerospace Control Technology Institute (China)
Kun Yu, Harbin Institute of Technology (China)
Jiajia Duan, Shanghai Aerospace Control Technology Institute (China)
Jingwen Zhu, Shanghai Aerospace Control Technology Institute (China)
Xiaotong Zhang, Shanghai Aerospace Control Technology Institute (China)


Published in SPIE Proceedings Vol. 11427:
Second Target Recognition and Artificial Intelligence Summit Forum
Tianran Wang; Tianyou Chai; Huitao Fan; Qifeng Yu, Editor(s)

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