Space rope tying robot camera automatic motion detection and compensation method

A robot camera and space tether technology, applied in the direction of instruments, image data processing, calculation, etc., can solve the unfavorable and difficult problems of automatic detection of moving targets, improve reliability and accuracy, reduce error matching rate, and move Parameter solvers for exact effects

Active Publication Date: 2013-04-24
NORTHWESTERN POLYTECHNICAL UNIV
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  • Application Information

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Problems solved by technology

Due to the motion characteristics of the space tether robot, the camera carried by it has autonomous motion, and the continuously acquired front and rear frame images have affine transformation motion effect, which makes the problem more difficult to solve, which will be extremely unfavorable to the subsequent automatic detection of moving targets

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  • Space rope tying robot camera automatic motion detection and compensation method
  • Space rope tying robot camera automatic motion detection and compensation method
  • Space rope tying robot camera automatic motion detection and compensation method

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Embodiment Construction

[0022] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0023] Establishing the geometric imaging model of the camera is the basic premise to eliminate the camera's self-motion. Generally speaking, the camera geometric imaging model can be described by the central perspective projection model. In related disciplines such as photogrammetry and computer vision, the perspective projection model has been fully studied, and most algorithms are developed based on the perspective projection model. However, due to the nonlinearity of perspective projection, these algorithms are relatively complex, and the numerical stability of the algorithm is poor, which has been recognized in the field related to image measurement.

[0024] When the internal parameters of the camera do not change during the shooting process and the distance from the shooting area is far away, the field of view is much larger than the scale of the target, a...

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Abstract

The invention relates to a space rope tying robot camera automatic motion detection and compensation method. The space rope tying robot camera automatic motion detection and compensation method is characterized in that regions contained moving objects in a front frame image and a rear frame image can be calculated; feature point detection is performed in regions without the moving objects through a SURF algorithm; an SURF feature description vector quantity adopted has the property of dimension and rotation invariance and is good in discrimination so that reliability and accuracy of image registration can be improved effectively according to the new algorithm. A cross matching algorithm is further adopted so that a fault matching ratio is reduced, and therefore robustness of the algorithm is strong and a solution of a motion parameter is accurate.

Description

technical field [0001] The invention belongs to the field of image processing and computer vision, in particular to a method for detecting and compensating the self-motion of a camera mounted on a space tethered robot system. Background technique [0002] The space tethered robot system consists of "space tethered robot + space tether + space platform", which has the characteristics of safety, flexibility, and long operating distance. On-orbit services such as auxiliary assembly of on-orbit space stations have become one of the research hotspots in the field of space manipulation technology. This new type of miniature intelligent robot can approach the target autonomously in space. During the approaching process, the binocular vision measurement system carried by itself is used to detect, track and measure the target in real time. The most critical step is to automatically detect and extract moving objects in a dynamic background, which involves moving object detection tec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/20G06T5/00
Inventor 黄攀峰蔡佳孟中杰刘正雄
Owner NORTHWESTERN POLYTECHNICAL UNIV
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