State Estimation of Axisymmetric Target Based on Beacon Linear Features and View Relation

In order to realize state estimation for axisymmetric targets and improve the accuracy and robustness of state estimation, a state estimation method for axisymmetric targets based on beacon linear features and view relation is proposed in this paper. The depth camera is used to collect the image and depth information of the object, and the features of the beacon line are extracted by the thinning process and Hough transform. Then, the rotation matrix model based on view relation is constructed to solve the target state. Finally, an axisymmetric shore power plug is taken as the experimental object and the L–V (linear features and view relation) state estimation method is compared with the C–H and C–IPPE state estimation methods. The experimental results show that the L–V state estimation method has higher accuracy and robustness.