Ronghua Li, Meng Wang, Wei Zhou, Jiaru Fu. Pose estimation of flying target based on bi-modal information fusion[J]. Infrared and Laser Engineering, 2023, 52(3): 20220618
- Infrared and Laser Engineering
- Vol. 52, Issue 3, 20220618 (2023)
Fig. 1. Flow chart of bimodal fusion algorithm
Fig. 2. Point cloud and image fusion
Fig. 3. Point cloud densification
Fig. 4. Moving object extraction
Fig. 5. Image morphological processing
Fig. 6. Target point cloud extraction
Fig. 7. Feature line extraction
Fig. 8. Point cloud model coordinate system
Fig. 9. Pose solution results
Fig. 10. Physical object and point cloud model
Fig. 11. Simulation data
Fig. 12. Display of pose calculation process in frame 20
Fig. 13. Display of pose calculation process in frame 30
Fig. 14. Pose solution error
Fig. 15. ICP algorithm error
Fig. 16. Two scene color pictures
Fig. 17. Comparison of image target extraction algorithms
Fig. 18. Calculation of target pose in different scenes
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Table 1. Parameter range of RS-LD1605 M radar
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Table 2. Comparison of algorithm accuracy
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Table 3. Comparison of target extraction accuracy of image
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Table 4. Time consuming for image target extraction
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Table 5. Calculation results of target pose
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Table 6. PnP pose calculation
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Table 7. Position and attitude error comparison
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Table 8. Point cloud collection rate under different surface colors
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Table 9. Number of point clouds at different object distances and surface colors
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Table 10. Position error
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Table 11. Angle error
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