The invention relates to a
perception identification method for
verification and evaluation of a space autonomous capture full task chain, and the method comprises the steps: shooting a space region containing a target through a fixed binocular camera, and reconstructing a three-dimensional
point cloud model of the space region where the target is located; a
mask set of a target to be grabbed is screened out through a
deep learning image segmentation algorithm and target feature comparison, a target three-dimensional
point cloud is obtained through mapping, geometric
centroid calculation and coordinate
system conversion are carried out on the
point cloud, and a three-dimensional center coordinate of the target under a base coordinate
system of the space
robot is obtained; a
monocular camera carried at the
tail end of the space
robot is used for shooting multi-view images of a target, and a high-precision target three-dimensional point cloud model with a continuous surface is generated; carrying out fusion registration on the high-precision target three-dimensional point cloud model and the three-dimensional point cloud model of the space region where the target is located to obtain a target complete geometric model with accurate scale and
pose; and the optimal grabbing
pose and path are calculated. And the problem of autonomous
perception and recognition of the
robot in the autonomous grabbing process in the
space environment is solved.