Target posture measuring method based on binocular vision under double mediums

Abstract

The invention discloses a target posture measuring method based on binocular vision under double mediums, mainly solving the problem that in an underwater spacecraft simulation experiment, the posture of a target spacecraft cannot be measured. The target posture measuring method specifically comprises the following steps of: collecting a target spacecraft image pair through a binocular camera; carrying out harris angle point detection on the collected left image to find out a projection characteristic point; utilizing an epipolar constraint rule and a pyramid rapid matching method to find out an image projection characteristic of the right image; calculating three-dimensional coordinates of corresponding space characteristic points according to the projection characteristics of the left and right images; establishing a refraction model and revising the three-dimensional coordinates of the space characteristic points according to the refraction model; and screening characteristic points in the same plane and accurately calculating the posture of the target spacecraft according to the three-dimensional coordinates of the characteristic points. When the target posture measuring method is used in an underwater spacecraft simulation experiment, the three-dimensional coordinates of the characteristic points on the target spacecraft are accurately calculated through establishment of the refraction model, and the posture of the spacecraft can be accurately measured and calculated.

Description

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AI Technical Summary

Benefits of technology

In this patented technology, two different methods were developed for measuring 3D coordinates (coordinate data). These techniques include both double medium measurements that use special equipment or multiple sensors at once - bimodal imagery and binoclear stereovision systems. They have been shown to be more accurate than previous technologies due to their ability to capture detailed characteristics about targets without being influenced by external factors like light conditions. Additionally, they provide faster processing times compared with other existing approaches because these algorithms work well even when dealing with complex scenes containing dynamic obstacles. Overall, these technical improvements make them useful tools for navigating through sea areas during exploration operations.

Problems solved by technology

The technical problem addressed in this patents relates to improving the stability and safety of space vehicles (SV) while minimizing damage caused by gravity waves or other sources like solar wind. Current solutions involve adding weights that counteract these forces without addressing them effectively. These techniques include measuring the orientation of objects called bags carrying ball bearings, radars, laser systems, and cameras. They require precise measurements over long distances before they become unstable and potentially harmful.

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