Spatial non-cooperative target pose measurement method based on stereoscopic vision

A non-cooperative target, stereo vision technology, applied in photo interpretation, image data processing, instruments, etc., can solve problems such as image degradation and image processing algorithms, and achieve the effect of reducing complexity, solving image degradation problems, and improving accuracy

Active Publication Date: 2017-05-17
SHANDONG INST OF AEROSPACE ELECTRONICS TECH
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Problems solved by technology

[0005] In view of this, the purpose of the present invention is to provide a spatial non-cooperative target pose measurement method based on stereo vision, to effectively solve the problem of image

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  • Spatial non-cooperative target pose measurement method based on stereoscopic vision
  • Spatial non-cooperative target pose measurement method based on stereoscopic vision
  • Spatial non-cooperative target pose measurement method based on stereoscopic vision

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Embodiment Construction

[0038] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0039] The spatial non-cooperative target pose measurement method based on stereo vision processes the images synchronously collected by the left and right cameras, and calculates the relative position and posture parameters of the non-cooperative target. The main steps are as follows:

[0040]Step 1. Image preprocessing: perform adaptive smoothing filtering and Wallis filtering on the left and right camera images respectively to reduce noise interference and enhance image feature information.

[0041] The adaptive smoothing filter algorithm is an iterative algorithm, assuming that the number of iterations is T, the basic iterative steps are:

[0042] (a) Determine the window Q with each image point I(x, y) in the image I as the center, and calculate the gradient of the image point I(x, y), as shown in the following formula:

[0043]

[0044] (b) Calcu...

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Abstract

The invention discloses a spatial non-cooperative target pose measurement method based on stereoscopic vision. The method does not need any auxiliary measurement tool and a geometric size of a target, and directly recognizes the inherent characteristics of a non-cooperative target to realize the measurement of target position attitude parameters. The method utilizes an image pre-processing frame based on adaptive smoothing filtering and Wallis filtering to solve the problem of image degradation caused by a complex space environment so that the accuracy of non-cooperative target recognition and feature extraction is improved. A feature matching algorithm based on spatial geometric constraint is adopted so that the epipolar constraint in the plane is extended to the space, and the three-dimensional information is obtained directly when the feature matching is completed so that the complexity of the image processing algorithm is reduced.

Description

technical field [0001] The invention belongs to the technical field of space on-orbit service, and in particular relates to a method for measuring the pose of a space non-cooperative target based on stereo vision. Background technique [0002] In recent years, human spaceflight activities have continued to increase, and more and more spacecraft are launched every year. As time goes by, many spacecraft will produce some abandoned spacecraft, malfunctioning spacecraft, and space debris, which will affect the safety of other spacecraft; in addition, some special orbital resources in space are limited, such as the geostationary orbit In GEO, once a spacecraft fails or is scrapped, it will not only cause economic losses, but also occupy corresponding orbital resources. Therefore, the space on-orbit service technology for the purposes of spacecraft on-orbit maintenance, abandoned spacecraft cleaning, space attack and defense, etc. has become a key research direction in the aerosp...

Claims

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Application Information

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IPC IPC(8): G01C11/04G06T7/33G06T7/73
CPCG01C11/04G06T2207/30244
Inventor 杨宁赵爽申景诗张建德郭春辉石德乐吴世臣
Owner SHANDONG INST OF AEROSPACE ELECTRONICS TECH
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