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A Space Teleoperation Visual Recognition System is developed. It is used to recognize an object and measure the 3D pose. A highly efficient no iterative approach is used to calculator the external parameters in camera calibration. It divides all reference points into 3-point subsets in order to achieve a series of fourth order polynomials. The optimal solution is determined by solving the roots of the derivative of the cost function. Laser tracker is used to measure accurately the coordinate system of the robot, the end of the robot arm and the 3D target, then the hand-eye relation matrix is calculated based on these measurement results and external camera parameters. Then, we propose a novel pattern recognition technique to show how to reduce the dimensionality by utilizing group and convexity model. The performance of this visual system is tested in a space robot prototype. Keywords-recognition; teleoperation; hand-eye calibration; camera calibration

Space Teleoperation Visual Recognition System Using a Novel Pattern Recognition Technique