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Space non-cooperative target three-dimensional reconstruction method based on projection matrix

A non-cooperative target and projection matrix technology, applied in the field of 3D reconstruction, can solve the problems of inability to meet the real-time requirements of space operations and long calculation time, and achieve the effect of shortening the reconstruction time, reducing the amount of calculation, and meeting the requirements of real-time performance.

Inactive Publication Date: 2018-02-09
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

Most of the above methods are based on the triangulation method to solve the coordinates of three-dimensional space points. The calculation of the solution process takes a long time and cannot meet the real-time requirements of space operations.

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  • Space non-cooperative target three-dimensional reconstruction method based on projection matrix
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  • Space non-cooperative target three-dimensional reconstruction method based on projection matrix

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Embodiment Construction

[0019] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, and the present invention includes but not limited to the following embodiments.

[0020] The idea of ​​the present invention is: firstly extract the feature points from the images taken by the left and right cameras, and then match the corresponding feature points according to the principle of image matching; then obtain the rotation matrix R and the translation matrix T according to the principle of epipolar geometric constraints; 3D space point to the image plane projection matrix relationship, calculate the 3D space point coordinates.

[0021] The specific solution method is as follows:

[0022] (1) First, the three-dimensional space point is projected onto the camera pixel plane. For this kind of projection relationship, we use the pinhole model to model this mapping relationship. Let O-x-y-z be the camera coordinate system, the z-axis points to the...

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Abstract

The invention provides a space non-cooperative target three-dimensional reconstruction method based on a projection matrix. Firstly, feature points of images taken by left and right cameras are extracted, then corresponding feature points are matched according to an image matching principle, then determining a rotation matrix R and a translation matrix T according to an epipolar geometry constraint principle; and finally working out coordinates of three-dimensional points by means of the relationship between three-dimensional points and an image plane projection matrix. According to the invention, under the condition that the image feature points are matched correctly, internal and external parameters of the cameras can be solved only through the epipolar geometry constraint, cumbersome steps of camera calibration are omitted, the calculated amount is reduced, reconstruction time is shortened, and the real-time demand of spacecraft operation can be satisfied.

Description

technical field [0001] The invention relates to a method for three-dimensional reconstruction of a space non-cooperative target, belonging to the field of three-dimensional reconstruction. Background technique [0002] With the development of aerospace technology, human exploration and development of outer space resources are getting deeper and deeper. Spacecraft will float freely in space if they fail, fail or are abandoned after completing their missions, that is, they become space junk. Therefore, space non-cooperative target acquisition technology for the purpose of on-orbit maintenance of traditional spacecraft, invalid satellite cleaning, space debris cleaning, space attack and defense, etc. has become a new development direction in the field of space robotics. Obtaining the accurate position information of the target is the premise of realizing its detection, approach, rendezvous and docking and maintenance operations. As an effective technology to obtain target inf...

Claims

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Application Information

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IPC IPC(8): G06T17/00G06T7/33G06T7/80
CPCG06T17/00G06T2207/10028G06T7/33G06T7/80
Inventor 宁昕张丕辉李帅张家巍袁建平李羿霏任璐张敬敏高尔心
Owner NORTHWESTERN POLYTECHNICAL UNIV
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