Research on Pose Estimation for Electric Vehicle’s Fast-Swap Battery Box Based on Visual Information

Abstract:

For the reason of difficult to get battery box pose information, we research the battery box pose measure method based on visual information. We get the coplanar four points at the lines constraints which extracted form image. We get the pose relationship between the battery box coordinate system and camera coordinate system, and then calculate the average of the measure results to reduce noise effects for measure precision. Simulation results show that the method through calculate average of the measure results can effectively reduce noise effects for measure accuracy. The actual experimental results show that the pose estimate accuracy is meet robot requirements for battery swap.

• Periodical: Applied Mechanics and Materials (Volumes 253-255)
• Pages: 2252-2257
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.253-255.2252
• Online since: December 2012
• Authors: Yu Ming Wu, Shuo Liu, Gao Yang Zhang, Xiao Yan Yin, Ming Yu Zhao, Zhi Yuan Lu
• Keywords: Battery Box, Machine Vision, Orthogonal Iteration, Pose Estimation

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