An RGB-D-Based Cross-Field of View Pose Estimation System for a Free Flight Target in a Wind Tunnel

<table class="fixed-width table-group" id="tab2"><tr><td><table class="table"><colgroup><col style="width:15.44em"/><col style="width:3.53em"/><col style="width:3.15em"/></colgroup><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td class="align_left">Parameter Name</td><td class="align_center">Value</td><td class="align_center">Unit</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td class="align_left">Travel range X, Y</td><td class="align_center">±50</td><td class="align_center">mm</td></tr><tr><td class="align_left">Travel range Z</td><td class="align_center">±25</td><td class="align_center">mm</td></tr><tr><td class="align_left">Travel range <span class="nowrap"><svg height="12.4698pt" id="M40" style="vertical-align:-3.18147pt" version="1.1" viewbox="-0.0498162 -9.28833 12.8531 12.4698" width="12.8531pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M475 507C475 612 440 712 326 712C139 712 23 420 23 215C23 96 58 -12 180 -12C369 -12 475 293 475 507ZM391 522C391 486 387 448 379 394H126C155 538 222 677 310 677C386 677 391 571 391 522ZM373 346C344 193 283 22 189 22C126 22 106 114 106 196C106 243 111 293 118 346H373Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.149,3.132)"><path d="M665 0V33C595 38 568 55 523 124C476 196 422 278 366 366C436 471 466 514 487 540C533 599 553 609 628 617V650H396V617C459 610 463 599 440 558C413 507 382 460 343 400C300 467 263 522 232 575C216 602 218 609 278 617V650H27V617C100 609 114 598 160 531C193 479 239 409 291 325C206 194 151 118 127 89C99 53 67 38 8 33V0H242V33C177 41 172 50 196 91C229 151 269 219 316 288C380 189 422 120 446 81C465 49 459 38 398 33V0H665Z"></path></g></svg>,</span> <svg height="12.4698pt" id="M41" style="vertical-align:-3.18147pt" version="1.1" viewbox="-0.0498162 -9.28833 12.6979 12.4698" width="12.6979pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M475 507C475 612 440 712 326 712C139 712 23 420 23 215C23 96 58 -12 180 -12C369 -12 475 293 475 507ZM391 522C391 486 387 448 379 394H126C155 538 222 677 310 677C386 677 391 571 391 522ZM373 346C344 193 283 22 189 22C126 22 106 114 106 196C106 243 111 293 118 346H373Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.149,3.132)"><path d="M631 650H403V617C483 609 484 601 462 552C433 492 382 399 345 333C302 408 253 486 212 562C194 596 189 609 262 617V650H18V617C80 612 90 599 131 534C184 445 219 381 258 316C275 286 279 276 279 257V127C279 44 272 37 180 32V0H469V32C373 37 366 45 366 127V261C366 286 369 297 382 321C430 409 465 465 507 534C547 599 561 609 631 617V650Z"></path></g></svg></td><td class="align_center">±15</td><td class="align_center">°</td></tr><tr><td class="align_left">Travel range <svg height="12.4698pt" id="M42" style="vertical-align:-3.18147pt" version="1.1" viewbox="-0.0498162 -9.28833 12.3873 12.4698" width="12.3873pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M475 507C475 612 440 712 326 712C139 712 23 420 23 215C23 96 58 -12 180 -12C369 -12 475 293 475 507ZM391 522C391 486 387 448 379 394H126C155 538 222 677 310 677C386 677 391 571 391 522ZM373 346C344 193 283 22 189 22C126 22 106 114 106 196C106 243 111 293 118 346H373Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.149,3.132)"><path d="M566 179C549 130 530 96 510 76C481 47 444 40 324 40C256 40 195 42 160 46C300 249 436 439 576 636L568 650H166C135 650 125 652 113 675H86L74 488H108C119 533 131 558 144 577C160 601 179 610 283 610H454C313 407 172 215 31 16L40 0H564C575 40 593 135 601 172L566 179Z"></path></g></svg></td><td class="align_center">±30</td><td class="align_center">°</td></tr><tr><td class="align_left">Min. incremental motion X, Y</td><td class="align_center">3</td><td class="align_center"><i>μ</i>m</td></tr><tr><td class="align_left">Min. incremental motion Z</td><td class="align_center">1</td><td class="align_center"><i>μ</i>m</td></tr><tr><td class="align_left">Min. incremental motion <span class="nowrap"><svg height="12.4698pt" id="M43" style="vertical-align:-3.18147pt" version="1.1" viewbox="-0.0498162 -9.28833 12.8531 12.4698" width="12.8531pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M475 507C475 612 440 712 326 712C139 712 23 420 23 215C23 96 58 -12 180 -12C369 -12 475 293 475 507ZM391 522C391 486 387 448 379 394H126C155 538 222 677 310 677C386 677 391 571 391 522ZM373 346C344 193 283 22 189 22C126 22 106 114 106 196C106 243 111 293 118 346H373Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.149,3.132)"><path d="M665 0V33C595 38 568 55 523 124C476 196 422 278 366 366C436 471 466 514 487 540C533 599 553 609 628 617V650H396V617C459 610 463 599 440 558C413 507 382 460 343 400C300 467 263 522 232 575C216 602 218 609 278 617V650H27V617C100 609 114 598 160 531C193 479 239 409 291 325C206 194 151 118 127 89C99 53 67 38 8 33V0H242V33C177 41 172 50 196 91C229 151 269 219 316 288C380 189 422 120 446 81C465 49 459 38 398 33V0H665Z"></path></g></svg>,</span> <span class="nowrap"><svg height="12.4698pt" id="M44" style="vertical-align:-3.18147pt" version="1.1" viewbox="-0.0498162 -9.28833 12.6979 12.4698" width="12.6979pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M475 507C475 612 440 712 326 712C139 712 23 420 23 215C23 96 58 -12 180 -12C369 -12 475 293 475 507ZM391 522C391 486 387 448 379 394H126C155 538 222 677 310 677C386 677 391 571 391 522ZM373 346C344 193 283 22 189 22C126 22 106 114 106 196C106 243 111 293 118 346H373Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.149,3.132)"><path d="M631 650H403V617C483 609 484 601 462 552C433 492 382 399 345 333C302 408 253 486 212 562C194 596 189 609 262 617V650H18V617C80 612 90 599 131 534C184 445 219 381 258 316C275 286 279 276 279 257V127C279 44 272 37 180 32V0H469V32C373 37 366 45 366 127V261C366 286 369 297 382 321C430 409 465 465 507 534C547 599 561 609 631 617V650Z"></path></g></svg>,</span> <svg height="12.4698pt" id="M45" style="vertical-align:-3.18147pt" version="1.1" viewbox="-0.0498162 -9.28833 12.3873 12.4698" width="12.3873pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M475 507C475 612 440 712 326 712C139 712 23 420 23 215C23 96 58 -12 180 -12C369 -12 475 293 475 507ZM391 522C391 486 387 448 379 394H126C155 538 222 677 310 677C386 677 391 571 391 522ZM373 346C344 193 283 22 189 22C126 22 106 114 106 196C106 243 111 293 118 346H373Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.149,3.132)"><path d="M566 179C549 130 530 96 510 76C481 47 444 40 324 40C256 40 195 42 160 46C300 249 436 439 576 636L568 650H166C135 650 125 652 113 675H86L74 488H108C119 533 131 558 144 577C160 601 179 610 283 610H454C313 407 172 215 31 16L40 0H564C575 40 593 135 601 172L566 179Z"></path></g></svg></td><td class="align_center">5</td><td class="align_center">urad</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Parameters of the 6-Axis Hexapod.</div>

Complexity

tab2

Table 2

Table 2: An RGB-D-Based Cross-Field of View Pose Estimation System for a Free Flight Target in a Wind Tunnel 