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

technical field [0001] The invention belongs to the technical field of image information, and relates to a method for measuring the pose and attitude of a target object under the condition of double mediums in which light propagation in different media causes refraction, which can be used for spacecraft to perform experiments in an underwater simulated space environment. measurement of device attitude. Background technique [0002] Astronauts' space activities are a key step in the development of my country's manned spaceflight technology. Tasks such as observing ground targets, in-orbit maintenance and assembling large-scale space facilities can be completed by using astronauts' out-vehicle activities. However, the astronaut's evacuation is an extremely expensive and risky space operation mission. According to NASA data, it takes at least 100 hours of simulated practice on the ground to complete one hour of space exit activity. In the state of weightlessness, the human b...

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Problems solved by technology

[0012] The purpose of the present invention is to use the principle of refraction to overcome the problem of inaccurate measurement of the three-dimensional coordinates of the above-mentioned feature points on the target spacecraft, and to propose a method for measuring the target attitude based on binocular vision in a dual-media environment to accurately measure the position of the target feature points. Three-dimensional coordinates, providing data for subsequent spacecraft attitude calculation and research

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