Large-Scale Aircraft Pose Estimation System Based on Depth Cameras
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Published:2023-03-15
Issue:6
Volume:13
Page:3736
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ISSN:2076-3417
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Container-title:Applied Sciences
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language:en
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Short-container-title:Applied Sciences
Author:
Yang Yubang1ORCID, Sun Shuyu1, Huang Jianqiang1, Huang Tengchao1, Liu Kui2
Affiliation:
1. State Key Laboratory of Modern Optical Instrumentation, Zhejiang University, No. 38 Zheda Road, Hangzhou 310027, China 2. Xi’an Institute of Modern Control Technology, Xi’an 710065, China
Abstract
In the fields of wind tunnel measurement and aerospace, the real-time pose information of aircraft is an important index. In this paper, we propose a large-scale aircraft pose estimation system, in which depth cameras are used to scan the entire aircraft model in multiple directions. Using a principal component analysis (PCA) featuring vectors as the target coordinate system through a coordinate transformation matrix for the point cloud calibration of aircraft, we merge the complete aircraft model with the point cloud. An intrinsic shape signature (ISS) key point extraction and a signature of histograms of orientations (SHOT) feature description are used to form feature descriptors. The scale of the point clouds is reduced, and coarse registration of the point clouds is performed by feature matching and random sample consensus (RANSAC) mismatching. The robustness of the algorithm is improved, and the initial pose estimation is achieved for the precise registration of point clouds. The experimental results demonstrate that the proposed system can achieve an angle measurement accuracy of 0.05°.
Funder
National Key Research and Development Program of China Zhejiang Provincial Natural Science Foundation of China
Subject
Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science
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