为解决传统人工接触式测量工作量大、测量条件相对艰苦及影响牛正常生活习性的繁琐问题,提出了基于目标检测的双目深度估计牛的体尺测量方法。首先,通过双目相机采集图片,利用YOLOv5(you only look once v5)目标检测算法检测图像中的体...为解决传统人工接触式测量工作量大、测量条件相对艰苦及影响牛正常生活习性的繁琐问题,提出了基于目标检测的双目深度估计牛的体尺测量方法。首先,通过双目相机采集图片,利用YOLOv5(you only look once v5)目标检测算法检测图像中的体尺特征部位,结合边缘检测等算法获取牛体尺测点。其次,利用双目立体匹配算法将双目2维图片转化为空间3维深度信息图,在深度信息图上读取测点3维坐标。最后,在3维坐标系下运用空间欧氏距离进而计算牛的体尺参数。搭建了测试平台进行测量,实验结果表明,该方法的测量精度高于现有相关方法,其中体长的平均相对误差为2.4%、体高的平均相对误差为1.1%、体斜长的平均相对误差为3.3%,为牛体尺测量提供了可行的示范。展开更多
This paper presents the optical navigation results of the asteroid explorer Hayabusa2 during the final rendezvous approach phase with the asteroid Ryugu.The orbit determination of Hayabusa2 during the cruising phase u...This paper presents the optical navigation results of the asteroid explorer Hayabusa2 during the final rendezvous approach phase with the asteroid Ryugu.The orbit determination of Hayabusa2 during the cruising phase uses a triangulation-based method that estimates the probe and asteroid orbits using the directions from which they are observed.Conversely,the asteroid size is available as optical information just prior to arrival.The size information allows us to estimate the relative distance between the probe and the asteroid with high accuracy,that is strongly related to the success or failure of the rendezvous.In this study,the relative distance and asteroid size in real space are simultaneously estimated in real time by focusing on the rate of change of the asteroid size observed in sequential images.The real-time estimation results coincided with those of precise analyses performed after arrival.展开更多
文摘为解决传统人工接触式测量工作量大、测量条件相对艰苦及影响牛正常生活习性的繁琐问题,提出了基于目标检测的双目深度估计牛的体尺测量方法。首先,通过双目相机采集图片,利用YOLOv5(you only look once v5)目标检测算法检测图像中的体尺特征部位,结合边缘检测等算法获取牛体尺测点。其次,利用双目立体匹配算法将双目2维图片转化为空间3维深度信息图,在深度信息图上读取测点3维坐标。最后,在3维坐标系下运用空间欧氏距离进而计算牛的体尺参数。搭建了测试平台进行测量,实验结果表明,该方法的测量精度高于现有相关方法,其中体长的平均相对误差为2.4%、体高的平均相对误差为1.1%、体斜长的平均相对误差为3.3%,为牛体尺测量提供了可行的示范。
基金This work was partially supported by JSPS KAKENHI Grant No.18H01628.
文摘This paper presents the optical navigation results of the asteroid explorer Hayabusa2 during the final rendezvous approach phase with the asteroid Ryugu.The orbit determination of Hayabusa2 during the cruising phase uses a triangulation-based method that estimates the probe and asteroid orbits using the directions from which they are observed.Conversely,the asteroid size is available as optical information just prior to arrival.The size information allows us to estimate the relative distance between the probe and the asteroid with high accuracy,that is strongly related to the success or failure of the rendezvous.In this study,the relative distance and asteroid size in real space are simultaneously estimated in real time by focusing on the rate of change of the asteroid size observed in sequential images.The real-time estimation results coincided with those of precise analyses performed after arrival.
