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AstroPose:Astronaut pose estimation using a monocular camera during extravehicular activities

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With the completion of the Chinese space station,an increasing number of extravehicular activities will be executed by astronauts,which is regarded as one of the most dangerous activities in human space exploration.To guarantee the safety of astronauts and the successful accomplishment of missions,it is vital to determine the pose of astronauts during extravehicular activities.This article presents a monocular vision-based pose estimation method of astronauts during extravehicular activities,making full use of the available observation resources.First,the camera is calibrated using objects of known structures,such as the spacesuit backpack or the circular handrail outside the space station.Subsequently,the pose estimation is performed utilizing the feature points on the spacesuit.The proposed methods are validated both on synthetic and semi-physical simulation experiments,demon-strating the high precision of the camera calibration and pose estimation.To further evaluate the performance of the methods in real-world scenarios,we utilize image sequences of Shenzhou-13 astronauts during extravehicular activities.The experiments validate that camera calibration and pose estimation can be accomplished solely with the existing observation resources,without requiring additional complicated equipment.The motion parameters of astronauts lay the technological foundation for subsequent applications such as mechanical analysis,task planning,and ground training of astronauts.

monocular cameraastronaut pose estimationcamera calibration

LIU ZiBin、LI You、WANG ChunHui、LIU Liang、GUAN BangLei、SHANG Yang、YU QiFeng

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College of Aerospace Science and Engineering,National University of Defense Technology,Changsha 410073,China

Key Laboratory of Human Factors Engineering,China Astronaut Research and Training Center,Beijing 100094,China

Hunan Provincial Natural Science Foundation for Excellent Young ScholarsScience FoundationFoundation of National Key Laboratory of Human Factors EngineeringFoundation of National Key Laboratory of Human Factors EngineeringFoundation of China Astronaut Research and Training Center

2023JJ20045KY0505072204GJSD2200661422222104012022SY54B0605

2024

10.1007/s11431-023-2599-8

中国科学:技术科学(英文版)
中国科学院

中国科学:技术科学(英文版)

CSTPCDEI
影响因子：1.056
ISSN：1674-7321
年,卷(期)：2024.67(6)
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