Pose Estimation Method of Spatial Objects Based on Contour Point Mixed Feature Matching
A technology of spatial objects and mixed features, which is applied in computing, image data processing, instruments, etc., can solve the problems of large influence of algorithm effect, algorithm convergence speed and convergence radius limit, etc., to reduce computational complexity and fast execution speed , high precision effect
Active Publication Date: 2018-02-09
BEIHANG UNIV
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However, the method using the iterative mechanism also has a common disadvantage, that is, it will be limited by the algorithm convergence speed and convergence radius, and the initial value often has a great influence on the algorithm effect.
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[0026] In order to make the purpose, content, and advantages of the present invention clearer, the specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
[0027] The specific implementation process of the spatial object pose estimation method based on contour point mixed feature matching proposed by the embodiment of the present invention is as follows: figure 1 As shown, the specific implementation details of each part are as follows:
[0028] Step 1. Input the 3D model of the space target and the monocular image under the pose to be estimated. Among them, the 3D model needs to contain the vertex coordinates and structural information of the space object, and does not need material and texture information. The input monocular image is a grayscale image, and the area occupied by the spatial object in the phase plane is about one tenth of the size of the monocular image....
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The invention relates to a spatial target attitude estimation method based on contour point mixed feature matching, belonging to the technical field of digital image processing. On the basis of the prior three-dimensional model, the data information included in the projected image contour is fully utilized, the 2D-3D feature corresponding relation from the input image to a target three dimensional model is established by means of mixed feature matching, and the determination of the feature corresponding relation and the estimation of target three-dimensional attitude parameters are simultaneously completed by means of iteration. By constructing the mixed feature vector of the contour points and adjusting the weight coefficient of the position component and the curvature component, the structure of the feature space can be accurately reflected, and the application scope of an algorithm is improved, even though the initial attitude and the actual attitude are large in difference, the algorithm is still high in accuracy, the projected image contour points are screened, the computation complexity is reduced, the execution speed is fast, the efficiency is high, and the real-time requirement can be met.
Description
technical field [0001] The invention relates to the technical field of digital image processing of three-dimensional stereo vision, in particular to a space object attitude estimation method based on contour point mixed feature matching. Background technique [0002] In recent years, optical imaging systems have been widely used in space targets. Many practical functions such as automatic rendezvous and docking, on-orbit self-service, etc. need to determine the attitude parameters of space targets. Therefore, there is an urgent need to apply attitude estimation methods to space targets. of. On the other hand, with the rapid development of high-quality optical imaging systems, image data containing more detailed information of spatial objects can be used as the input of pose estimation, which is beneficial to improve the accuracy of pose estimation. [0003] A complete pose estimation method needs to solve two problems: first, it is necessary to determine the feature corresp...
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IPC IPC(8): G06T7/73
Inventor 张浩鹏姜志国张鑫赵丹培史振威谢凤英罗晓燕尹继豪
Owner BEIHANG UNIV