About this Journal Submit a Manuscript Table of Contents
Journal of Robotics
Volume 2013 (2013), Article ID 692838, 7 pages
http://dx.doi.org/10.1155/2013/692838
Research Article

Computationally Efficient Iterative Pose Estimation for Space Robot Based on Vision

Shenzhen Graduate School, Harbin Institute of Technology, Harbin, Heilongjiang 150001, China

Received 21 May 2012; Accepted 19 December 2012

Academic Editor: Farhad Aghili

Copyright © 2013 Xiang Wu and Ning Wu. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

In postestimation problem for space robot, photogrammetry has been used to determine the relative pose between an object and a camera. The calculation of the projection from two-dimensional measured data to three-dimensional models is of utmost importance in this vision-based estimation however, this process is usually time consuming, especially in the outer space environment with limited performance of hardware. This paper proposes a computationally efficient iterative algorithm for pose estimation based on vision technology. In this method, an error function is designed to estimate the object-space collinearity error, and the error is minimized iteratively for rotation matrix based on the absolute orientation information. Experimental result shows that this approach achieves comparable accuracy with the SVD-based methods; however, the computational time has been greatly reduced due to the use of the absolute orientation method.