Visual 6D pose estimation of battery package locking mechanism in intelligent battery swapping station

Lihui WANG; Yuzuwei SU; Chunhua HAN; Liangliang CHEN; Hao ZHANG

doi:10.37188/OPE.20233121.3135

Optics and Precision Engineering, Volume. 31, Issue 21, 3135(2023)

Visual 6D pose estimation of battery package locking mechanism in intelligent battery swapping station

Lihui WANG^1、*, Yuzuwei SU¹, Chunhua HAN², Liangliang CHEN³, and Hao ZHANG³

¹Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology， Ministry of Education， School of Instrument Science and Engineering， Southeast University， Nanjing20096， China

²Jiangsu Provincial Electric Power Corporation， Nanjing1004， China

³NARI Technology Company Ltd.， Nanjing211100， China

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Figures & Tables(15)

Fig. 1. Schematic diagram of electric vehicle battery swapping

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Fig. 2. Structure of YOLOv5 network

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Fig. 3. Pretreatment result of locking mechanism point cloud

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Fig. 4. Structure of point cloud segmentation network

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Fig. 5. Schematic diagram of locking mechanism division segmentation

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Fig. 6. Photo of battery pack

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Fig. 7. Three dimensional printing model of battery pack

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Fig. 8. Flow chart of 6D pose estimation experiment

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Fig. 9. Point cloud segmentation result of locking mechanism

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Fig. 10. Network training loss and test results

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Fig. 11. Pose estimation matching result

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Table 1. Algorithm comparison results
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Table 1. Algorithm comparison results
算法 $Δ θ$ /（°） $Δ t$ /mm RMSE/mm
ICP 40.23 2.8 5.5
NDT 45.54 2.5 6.1
FGR 16.59 2.1 2.2
SAC-IA 5.67 1.5 1.8
D-SAC-IA 2.86 1.4 1.6

Table 2. Algorithm comparison results（with noise）
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Table 2. Algorithm comparison results（with noise）
算法 $Δ θ$ /（°） $Δ t$ /mm RMSE/mm
ICP 49.24 4.6 6.2
NDT 44.85 5.5 5.9
FGR 25.50 4.7 3.1
SAC-IA 10.67 2.5 2.3
D-SAC-IA 5.51 1.9 1.8

Table 3. Results of pose estimation experiment
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Table 3. Results of pose estimation experiment
序号 $Δ θ$ /（°） $Δ t$ /mm RMSE/mm
1 1.221 1.4 1.29
2 1.364 1.4 1.34
3 2.358 1.6 1.65
4 0.782 0.8 1.13
5 1.266 1.4 1.31
6 1.590 1.3 1.32
7 0.962 0.9 1.19
8 0.895 1.0 1.15
9 1.365 1.1 1.26
10 1.244 1.0 1.25

Table 4. Results of pose estimation experiment
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Table 4. Results of pose estimation experiment
序号 $Δ θ$ /（°） $Δ t$ /mm RMSE/mm
1 1.813 1.5 1.44
2 2.364 1.3 1.59
3 2.018 1.3 1.48
4 1.797 1.3 1.38
5 1.510 1.4 1.31

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Lihui WANG, Yuzuwei SU, Chunhua HAN, Liangliang CHEN, Hao ZHANG. Visual 6D pose estimation of battery package locking mechanism in intelligent battery swapping station[J]. Optics and Precision Engineering, 2023, 31(21): 3135

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