Rotation transformation matrix-based coarse and fine combination coupling algorithm applied in satellite assembling

A technology of rotation transformation matrix and matching algorithm, which is applied in the field of target matching in satellite assembly images, and can solve the problems of satellite assembly image mismatch, insufficient rotation invariance performance, etc.

Inactive Publication Date: 2017-04-05
HEBEI UNIV OF TECH
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Problems solved by technology

Binary descriptors usually have good velocity properties, but due to insufficient rotation invariance performance, the mismatching phenomenon in satellite assembly images is very serious

Method used

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  • Rotation transformation matrix-based coarse and fine combination coupling algorithm applied in satellite assembling
  • Rotation transformation matrix-based coarse and fine combination coupling algorithm applied in satellite assembling
  • Rotation transformation matrix-based coarse and fine combination coupling algorithm applied in satellite assembling

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Embodiment Construction

[0022] Taking a video image of a workpiece with rotation transformation interference in satellite assembly as an example, and in conjunction with the accompanying drawings, the rough-fine combination matching algorithm based on the rotation transformation matrix of the present invention is further described in detail.

[0023] The coarse-fine combination matching method based on the rotation transformation matrix designed by the present invention (method for short, see Figure 1-4 ), first create a new sampling model with rotation-invariant features and a sampling point pair selection mechanism; then obtain the rough rotation transformation description matrix of the image feature description vector to be matched at an interval of 10°, and combine the description matrix of the reference image to search for a rough The best rotation angle during matching; repeat the above steps at the ±10° position of the coarse rotation angle at intervals of 1° to calculate the precise rotation ...

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Abstract

The invention relates to a rotation transformation matrix-based coarse and fine combination coupling algorithm applied in satellite assembling. The technical feature is that the method comprises the following steps of (1) multi-scale FAST feature point detection, (2) new sampling model construction, (3) sampling dot pair selection, (4) feature description matrix establishment, (5) coarse and fine combination description matrix coupling, and (6) feature dot pair screening with the threshold and an RANSAC algorithm. The rotation transformation matrix-based coarse and fine combination coupling algorithm applied in satellite assembling can well overcome transformation of images, especially interference of rotation transformation, can rapidly match the correct feature point, and enables the robot system to smoothly complete image registering, object identification, region labeling and other operation.

Description

technical field [0001] The invention relates to a target matching technology in satellite assembly images, in particular to a rough-fine combination matching algorithm based on a rotation transformation matrix in satellite assembly. Background technique [0002] All countries attach great importance to public undertakings such as national security and social progress. In the field of aerospace, accurate and real-time ground assembly technology for various satellite devices has become the key to the rapid development of the aerospace field. According to the relevant regulations on satellite ground assembly requirements, it is necessary to ensure the rapid and stable integration of stand-alone equipment such as optical cameras, experimental devices and instruments, communication and detection equipment, space telescope drive mechanisms, brackets and antennas. The current development of satellite assembly technology is relatively slow, and the entire assembly process still main...

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Application Information

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IPC IPC(8): G06T7/35
CPCG06T2207/10028G06T2207/30108
Inventor 张小俊白丰张建华张明路
Owner HEBEI UNIV OF TECH
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