On Pose Estimation Algorithm of Cone Sleeve Based on Monocular Vision

被引：0

作者：

Chen, Xiaoping ^{[1
,3
]}

Zhou, Zhenyu ^{[1
]}

Gao, Chi ^{[2
]}

Hong, Rui ^{[1
,2
]}

Liu, Hui ^{[1
,2
]}

Xie, Yuyao ^{[4
]}

机构：

[1] Univ Elect Sci & Technol China, Chengdu 610054, Peoples R China

[2] Avic Chengdu Aircraft Design & Res Inst, Chengdu, Peoples R China

[3] AVIC United Technol Ctr Intelligent Decis Making, Chengdu 610054, Peoples R China

[4] Chengdu Plane Technol Co Ltd, Chengdu 610054, Peoples R China

来源：

ADVANCES IN GUIDANCE, NAVIGATION AND CONTROL, VOL 12 | 2025年 / 1348卷

关键词：

Air Refuelling; Monocular Vision; EPnP; Pose Estimation; AERIAL; NAVIGATION;

D O I：

10.1007/978-981-96-2244-3_7

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Aiming at the pose measurement of soft aerial refueling cone sleeve, we use monocular vision theory to propose a pose calculation method of taper sleeve. Firstly, we establish the monocular vision model, and reconstruct the cone sleeve in three dimensions to obtain the coordinate values of three-dimensional key points and the real pose of the cone sleeve. Then, using 2D key point coordinates combined with 3D key point coordinates, we use EPnP and ICP to estimate the pose of the taper sleeve relative to the camera. The results show that the three-axis Euler angle error of the cone sleeve estimated by our method is within +/- 10 degrees, and the three-axis positioning error of the cone sleeve is within +/- 10 cm, which can achieve centimeter-level positioning accuracy with high accuracy and meet the relative navigation requirements of aerial refueling.

引用

页码：61 / 70

页数：10

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