Research on Static Vision-Based Target Localization for Astronaut Assistant Robots

Abstract

Aiming at the problem of localizing and grasping targets by an astronaut assistant robot, developing assisting staff to complete specific tasks, and using a self-built visual system as an experimental platform, this paper proposes two improved static target localization methods based on binocular vision and the traditional localization method: (a) a localization method based on region of interest matching and (b) a localization method based on a pixel coordinate offset.Under the same conditions, the traditional binocular vision localization method and the two improved localization methods are used to locate a spherical target. The experimental results are compared and analysed, and the effectiveness of the improved methods is verified by two performance indicators: the localization accuracy and the localization time efficiency. The experimental results show that to a certain extent, the two improved localization methods can improve the localization efficiency of the vision system and positively affect the performance and flexibility of the astronaut assistant robots.