AstroPose:Astronaut pose estimation using a monocular camera during extravehicular activities  

作　　者：LIU ZiBin LI You WANG ChunHui LIU Liang GUAN BangLei SHANG Yang YU QiFeng 

机构地区：[1]College of Aerospace Science and Engineering,National University of Defense Technology,Changsha,410073,China [2]Key Laboratory of Human Factors Engineering,China Astronaut Research and Training Center,Beijing,100094,China

出　　处：《Science China(Technological Sciences)》2024年第6期1933-1945,共13页中国科学（技术科学英文版）

基　　金：supported by Hunan Provincial Natural Science Foundation for Excellent Young Scholars(Grant No.2023JJ20045);the Science Foundation(Grant No.KY0505072204);the Foundation of National Key Laboratory of Human Factors Engineering(Grant Nos.GJSD22006,6142222210401);the Foundation of China Astronaut Research and Training Center(Grant No.2022SY54B0605)。

摘　　要：With the completion of the Chinese space station,an increasing number of extravehicular activities will be executed by astronauts,which is regarded as one of the most dangerous activities in human space exploration.To guarantee the safety of astronauts and the successful accomplishment of missions,it is vital to determine the pose of astronauts during extravehicular activities.This article presents a monocular vision-based pose estimation method of astronauts during extravehicular activities,making full use of the available observation resources.First,the camera is calibrated using objects of known structures,such as the spacesuit backpack or the circular handrail outside the space station.Subsequently,the pose estimation is performed utilizing the feature points on the spacesuit.The proposed methods are validated both on synthetic and semi-physical simulation experiments,demonstrating the high precision of the camera calibration and pose estimation.To further evaluate the performance of the methods in real-world scenarios,we utilize image sequences of Shenzhou-13 astronauts during extravehicular activities.The experiments validate that camera calibration and pose estimation can be accomplished solely with the existing observation resources,without requiring additional complicated equipment.The motion parameters of astronauts lay the technological foundation for subsequent applications such as mechanical analysis,task planning,and ground training of astronauts.

关 键 词：monocular camera astronaut pose estimation camera calibration 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] V445.8[自动化与计算机技术—计算机科学与技术]