{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,11]],"date-time":"2026-02-11T13:09:26Z","timestamp":1770815366698,"version":"3.50.1"},"reference-count":37,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2022,2,15]],"date-time":"2022-02-15T00:00:00Z","timestamp":1644883200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52004034 and61903005"],"award-info":[{"award-number":["52004034 and61903005"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Science and Technology Research Program of Chongqing Municipal Education Commission","award":["KJQN202101413 and KJQN202001404"],"award-info":[{"award-number":["KJQN202101413 and KJQN202001404"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Symmetry"],"abstract":"<jats:p>Pose estimation is one of the most complicated and compromising problems for underground mining machine tracking, and it is particularly important for hydraulic support autonomous following mining machine (AFM) policy-making system. In this paper, a low-cost infrared vision-based system through an Efficient Perspective-n-Point (EPnP) algorithm is proposed. To improve efficiency and simplify computation, a traditional EPnP algorithm is modified through a nature-inspired heuristic optimization algorithm. The optimized algorithm is integrated into the AFM policy-making system to estimate the relative pose (R-Pose) estimation between hydraulic support and the mining machine\u2019s shearer drum. Simple yet effective numerical simulations and industrial experiments were carried out to validate the proposed method. The pose estimation error was \u22641% under normal lighting and illuminance, and \u22642% in a simulated underground environment, which was accurate enough to meet the needs of practical applications. Both numerical simulation and industrial experiment proved the superiority of the approach.<\/jats:p>","DOI":"10.3390\/sym14020385","type":"journal-article","created":{"date-parts":[[2022,2,15]],"date-time":"2022-02-15T22:44:47Z","timestamp":1644965087000},"page":"385","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Heuristic EPnP-Based Pose Estimation for Underground Machine Tracking"],"prefix":"10.3390","volume":"14","author":[{"given":"Lingling","family":"Su","sequence":"first","affiliation":[{"name":"College of Science, North China University of Technology, Beijing 100144, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xianhua","family":"Zheng","sequence":"additional","affiliation":[{"name":"School of Robot Engineering, Yangtze Normal University, Chongqing 408100, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yongshi","family":"Song","sequence":"additional","affiliation":[{"name":"School of Robot Engineering, Yangtze Normal University, Chongqing 408100, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ge","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Robot Engineering, Yangtze Normal University, Chongqing 408100, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Nana","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Robot Engineering, Yangtze Normal University, Chongqing 408100, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shang","family":"Feng","sequence":"additional","affiliation":[{"name":"Faculty of Computing, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5140-1096","authenticated-orcid":false,"given":"Lin","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Robot Engineering, Yangtze Normal University, Chongqing 408100, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,2,15]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Oh, X., Loh, L., Foong, S., Bao Andy Koh, Z., Leong Ng, K., Kang Tan, P., Lin Pearlin Toh, P., and Tan, U.-X. 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