Vision measurement system and method based on combination of global feature and local feature

Abstract

The invention relates to a vision measurement system and method based on combination of global feature and local feature. The vision measurement system comprises a platform type binocular camera, a mechanical arm, a mechanical arm hand-eye camera and an on-board computer. The platform type binocular camera is mounted at a permanent position of a satellite body; the mechanical arm hand-eye camera is mounted at the front end of the mechanical arm, and is fixed to a permanent position of the satellite body before the mechanical arm is unfolded; and a diffuse-reflection cooperative target point is adhered to the back end of the mechanical arm hand-eye camera. Besides, the on-board computer is mounted on the satellite body and capable of controlling movement of the satellite body, is connected with the platform type binocular camera and the mechanical arm hand-eye camera through electronic circuits, and is connected with the mechanic arm through an electronic circuit so as to control movement of the mechanical arm. The vision measurement system and method can cover working distance no matter the distance is far, near or super-near, thereby realizing high-precision vision measurement to non-cooperative satellite targets.

Description

technical field [0001] The invention relates to a visual measurement system and a measurement method, especially suitable for calculating the position and attitude of non-cooperative satellite targets. Background technique [0002] The approach and capture of non-cooperative satellite targets in space requires high stability and accuracy. When approaching, a sensor with a long working distance is required, and when capturing, a sensor that works at an ultra-close range is required. The traditional independent working mode of the two sensors is affected by the instability of non-cooperative target characteristics, and each sensor cannot provide high-precision measurement values, and it is also difficult to cover all working distances of far and near and ultra-near. [0003] "Relative Pose Measurement of Non-cooperative Spacecraft" (Optical Precision Engineering, Issue 7, 2009) proposed a stereo vision-based pose (position and attitude) measurement method to provide measuremen...

AI Technical Summary

Problems solved by technology

However, when working at different distances, binocular vision is affected by its own field of view and focal length, and cannot output high-precision measurement data at all distances

[0006] The approach and capture of non-cooperative targets in space requires stable and accurate measurement values ​​at different working distances. The methods described in the above patents all use the method of multiple sensors working independently, and it is difficult to provide high-precision measurements while covering all working distances. data, which cannot meet the needs of non-cooperative target measurement

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