6-D pose estimation method for large gear structure assembly using monocular vision. (October 2021)

• Record Type: Journal Article
• Authors: Zhou, Kuai; Huang, Xiang; Li, Shuanggao; Li, Hangyu; Kong, Shengjie
• Is Part Of: Measurement. Volume 183(2021)
• Publication Date: 2021-10
• Subjects: Monocular vision -- Visual measurement -- Corner detection -- Ellipse detection -- Pose estimation; Weights and measures -- Periodicals; Measurement -- Periodicals; Measurement; Weights and measures; Periodicals; 530.8
• DOI: 10.1016/j.measurement.2021.109854
• Languages: English
• ISSNs: 0263-2241

Abstract

Highlights: Vision-based 6-D pose estimation method is proposed for large gear structure assembly. Accurate detection method for key features (ADMKF) and pose calculation method based on key features (PCMKF) are proposed. Weight ξ is set in PCMKF to further improve the robustness of pose calculation. Pose calculation results are verified with simulation and real data including practical application. Abstract: Measuring the pose of large gear structures during the assembly process using large volume measurement systems (LVMSs) is difficult owing to the shielding between the output and input shafts. In addition, collision damage caused by assembly errors occurs during the assembly process, which affects the assembly accuracy and product reliability. In this study, a 6-D pose estimation method based on the monocular vision was proposed, which comprises a feature detection method and a pose calculation method, which is based on key features and is improved by using the weighting coefficient that was applied to the assembly of large gear structures. Finally, the assembly system of large gear structures based on the monocular vision was built. The system shows that this method has high precision and efficiency and can be used in the automatic assembly of large gear structures instead of traditional manual methods.