Academic Journal
Fusing touch and vision: a multimodal approach to pose estimation for space robot manipulation.
| Τίτλος: | Fusing touch and vision: a multimodal approach to pose estimation for space robot manipulation. |
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| Συγγραφείς: | Chen, Yiwei1 (AUTHOR) superyeevi@gmail.com, Xie, Yu1 (AUTHOR) xieyu@xmu.edu.cn, Wang, Renpeng1 (AUTHOR) renpengwang@qq.com, Luo, Tao1 (AUTHOR) luotao@xmu.edu.cn, Zhang, Jinhui1 (AUTHOR) jinhuizhang@xmu.edu.cn, Zhang, Haibo2 (AUTHOR) zhanghb502@163.com, Zhou, Wei1 (AUTHOR) weizhou@xmu.edu.cn |
| Πηγή: | Advances in Space Research. Sep2026, Vol. 78 Issue 6, p6463-6476. 14p. |
| Θεματικοί όροι: | *Pose estimation (Computer vision), *Space robotics, *Multisensor data fusion, *Space vehicles |
| Περίληψη: | The accurate pose estimation of a non-cooperative spacecraft target is a fundamental prerequisite for space robot manipulation. This paper presents a novel visual-tactile fusion approach for the 6D pose estimation of non-cooperative satellites, which serve as the manipulation object and are in the post-capture stage prior to on-orbit servicing. As an initial study toward incorporating tactile perception with traditional vision-based methods, we propose a rough-to-refined pose estimation scheme. First, a visual point cloud based pose rough estimation was performed with an improved ICP algorithm and a pose graph optimization algorithm. In the refined phase, a robotic active compliant motion strategy and a tactile servo controller were designed, which enabled tactile data acquisition from satellite surfaces. A visual-tactile point cloud registration algorithm was then specially developed, which enabled accurate pose estimation refinement. We implemented the approach in a semi-physical experimental system. The results verified that the proposed method outperformed most existing visual measurement methods, achieving a mean translation error of less than 5 mm and a mean attitude error of less than 1°. This demonstrated the potential applications of this method in on-orbit services for space robotics. [ABSTRACT FROM AUTHOR] |
| Βάση Δεδομένων: | Academic Search Index |
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