Wenqi Wu, Xingang Wang, De Xu, and Yingjie Yin
Ellipse fitting, position and orientation measurement, monocularvision, aerial refuelling
Combined with the 3D model of aerial refuelling drogue target, this paper proposes a method for measuring the position and orientation based on monocular vision. The shape of the drogue’s inner dark part is circular and its image is a circle or an ellipse in the image space. The contour points of the dark part are extracted in the image space and the adaptive elliptical parameter extraction algorithm based on RANSAC is adopted to get the parameters of the ellipse in the image space. Based on the principle of pinhole imaging and the dimension of the drogue’s dark part, a visual cone is established and the position and orientation of the drogue’s inner dark part can be deduced by using the geometric relationships. The experiments for measuring the drogue’s position and orientation are carried on in a platform composed of two KUKA robots, and the experiment results verify the effectiveness of the proposed method.
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