首页|一种用于中国空间站增强现实维护应用的自动跟踪框架

一种用于中国空间站增强现实维护应用的自动跟踪框架

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原文链接
  • 国家科技期刊平台
  • NETL
  • NSTL
  • 万方数据
跟踪注册是增强现实(Augmented reality,AR)中一项至关重要的技术.基于人工标识和基于图像的注册方法已广泛应用于增强装配系统中.然而,由于空间产品的弱纹理、结构对称、数据有限以及难以张贴标识等特点,空间站的跟踪注册仍面临挑战.本文提出了一种专门为中国空间站诱导维修应用设计的三维物体跟踪方法,旨在用AR技术取代传统的纸质手册,为宇航员提供更直观的操作指导.本文提出了一种无标记的中国空间站智能维护方法.采用点对特征方法来估计初始帧姿态,不需要手动调整来获得相应的姿态,这对宇航员来说至关重要,因为在微重力环境中精确运动是一项重大挑战,而且结合曲率信息可以提高采用点对特征方法估计初始帧姿态的效率.通过结合纹理和区域信息,消除了对宇航员位置的精确限制,进一步增强了空间对称产品的跟踪鲁棒性.该方法利用点云匹配来估计第一帧的初始姿态,并在失去跟踪后重新计算姿态.一旦获得了前一帧的姿态,则仅根据二维图像的区域和纹理信息来计算跟踪,以获得实时跟踪.实验结果表明:本文方法与基于标识的方法具有相同的姿态趋势;基于电子游标卡尺测量之间的误差在毫米级;使用专门为航天产品设计的专用工具成功更换过滤器,证明了在空间站上实施诱导维修程序的实用性和潜力.
An Automatic Tracking Framework for Augmented Reality Induced Maintenance Applications of Chinese Space Station
Tracking registration is a critical technology of augmented reality(AR).Marker-based and image-based registration methods have been widely used in augmented assembly systems.However,the space station encounters distinctive challenges due to weak product texture,symmetrical structure,limited data,and difficulty in attaching markers.This paper presents a novel 3D object tracking method specifically designed for induced maintenance applications in the Chinese space station,aiming to replace traditional paper manuals with the AR technology to provide astronauts with more intuitive operational guidance.We propose a marker-less approach for intelligent maintenance of the Chinese space station.A point pair feature method that combines curvature information for improving efficiency is employed to estimate the initial frame pose,obviating the need for manual adjustment to achieve the corresponding pose.This is crucial for astronauts,as precise movement in the microgravity environment is a significant challenge.Precise restrictions on the position of astronauts are eliminated,and the tracking robustness of space symmetric products is further enhanced by incorporating both texture and region information.The method utilizes both point cloud and 2D image.It leverages point cloud matching to estimate the initial pose of the first frame and recalculates the pose after loss of tracking.Once the pose of the previous frame is obtained,the tracking is calculated solely according to the region and texture information of the 2D image to obtain real-time tracking.The experimental results show that our method has the same pose trend as the marked-based method.And the error difference between the measurements based on electronic vernier calipers is in the millimeter level.The successful replacement of filters using specialized tools designed specifically for space products demonstrates the practicality and potential of implementing induced maintenance procedures on space station.

augmented reality(AR)pose trackingCAD modelChinese space station

赵鑫、王月、伏洪勇

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中国科学院空间应用工程与技术中心,北京 100094,中国

中国科学院大学计算机科学与技术学院,北京 100049,中国

重庆邮电大学先进制造工程学院,重庆 400065,中国

增强现实 位姿跟踪 CAD模型 中国空间站

National Key Research and Development ProgramAeronautical Science Fund of ChinaGeneral Project of Chongqing Natural Science Foundation

2022YFB33061002019ZE105001cstc2019jcyjmsxmX0530

2024

10.16356/j.1005-1120.2024.03.010

南京航空航天大学学报(英文版)
南京航空航天大学

南京航空航天大学学报(英文版)

CSTPCD
影响因子：0.279
ISSN：1005-1120
年,卷(期)：2024.41(3)
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