Pose measurement method of rotating target in approaching state

Abstract

The invention discloses a pose measurement method of a rotating target in an approaching state. The method comprises the steps of constructing a three-dimensional feature library of the target according to known model data and a shot target image sequence of the target, denoising and enhancing an input initial frame image, performing target positioning and profile extraction via image erosion anddilation operation, extracting ring features and corner features of the target from the second frame of the input image sequence, achieving matching between two-dimensional image corner features and three-dimensional features of a target model, obtaining more feature point locations via cross-ratio invariance interpolation, calculating a pose parameter of the target via the ring features and the corner features, and performing parameter optimization. The method reduces the area of a region to be processed in the image and improves calculating efficiency via target positioning. The calculatingprecision of the pose parameter is ensured by using the scheme that the ring features, a profile and the corner features are combined for use and more feature points are obtained by the cross-ratio invariance interpolation.

Description

technical field [0001] The invention relates to a method for measuring the pose of a rotating target in an approaching state. It solves the problem of calculating the pose of a rotating target with a ring structure and poor surface texture characteristics during the approaching process, which belongs to the application of computer vision technology field. Background technique [0002] The pose measurement of the rotating target during the approaching process can provide pose information support for the subsequent smooth implementation of the target manipulation task. In some specific environments, such as the space environment, due to the limitation of the energy consumption of the measuring equipment and other factors, the visual method is often used for the measurement of the rotating target. Visual measurement methods can be divided into non-model-based measurement methods and model-based measurement methods according to whether a model of the measured object is used. ...

AI Technical Summary

Problems solved by technology

However, the straight line fitted based on the edge detection results of the image often has a large calculation error in the normal direction

At the same time, the distinguishability of straight line features in the image is poor, which increases the difficulty of correct matching between 3D model features and 2D image features

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