Laser three-dimensional point cloud-based autonomous pose estimation method for soft landing end segment of detector

A laser three-dimensional, pose estimation technology, applied in the field of space science, achieves the effect of realizing redundant output, balancing operation speed and accuracy requirements, and high accuracy of the method

Pending Publication Date: 2021-12-03
SHANGHAI AEROSPACE SYST ENG INST
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Problems solved by technology

[0008] The purpose of the present invention is to provide a method for estimating the autonomous position and attitude of the soft landing stage of the detector based on the laser three-dimensional point cloud, so as to solve the p

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  • Laser three-dimensional point cloud-based autonomous pose estimation method for soft landing end segment of detector
  • Laser three-dimensional point cloud-based autonomous pose estimation method for soft landing end segment of detector
  • Laser three-dimensional point cloud-based autonomous pose estimation method for soft landing end segment of detector

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[0029] The following will be combined Figure 1 ~ 7 Soft landing of the detector based on the last paragraph of the 3D point cloud of the laser of the present invention is independent pose estimation method as described in further detail.

[0030] figure 1 The present invention is shown in the flowchart of the detection method of the detector soft land segment of the present invention based on the laser 3D point cloud.

[0031] See figure 1 , The present invention based on the laser three-dimensional point cloud detector soft land segment is indeed, including:

[0032] 1) Receive the point cloud packet output by the laser radar and perform frame division;

[0033] 2) Preprocessing each frame point cloud to obtain a point cloud frame sequence;

[0034] 3) Use the first frame selection of the point cloud frame to select the best drop;

[0035] Select the best drop in the point cloud segmentation + neighbor radius search algorithm;

[0036] Specifically, it includes: the first frame po...

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Abstract

The invention discloses a laser three-dimensional point cloud-based autonomous pose estimation method for a soft landing end segment of a detector, and the method comprises the steps: 1), receiving a point cloud data package outputted by a laser radar, and carrying out frame division; 2) preprocessing each frame of point cloud to obtain a point cloud frame sequence; 3) selecting an optimal drop point by using the first frame of the point cloud frame sequence and selecting an optimal drop point and adopting a point cloud segmentation + neighborhood radius search algorithm; 4) performing 3D SIFT feature point-based matching on non-first frames of the point cloud frame sequence to realize pose estimation; and 5) calculating relative navigation information according to the pose estimation. According to the invention, the problem of autonomous position and pose estimation according to the self-carried laser radar at the soft landing end segment of the detector without the support of external navigation information is solved.

Description

technical field [0001] The invention relates to the field of space science and technology, in particular to a laser three-dimensional point cloud-based autonomous pose estimation method at the end of soft landing of a detector. Background technique [0002] In the field of space detection, landing patrol detection is an important means of detection. In the soft landing stage of planetary exploration, in the absence of external navigation information input such as satellite navigation, autonomous navigation is a necessary condition for safe landing, and the determination of the detector's own position and orientation information is a prerequisite for autonomous navigation. [0003] The autonomous pose estimation of the detector refers to calculating the position and attitude angle of the detector in real time according to the navigation sensor carried by the detector itself without relying on the support of external navigation information. At the end of the soft landing miss...

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Application Information

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IPC IPC(8): G01S17/06G01C21/20
CPCG01S17/06G01C21/206Y02A90/10
Inventor 黄兴颜晓明金益辉王良军闫峰于欢
Owner SHANGHAI AEROSPACE SYST ENG INST
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