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空间目标的位姿计算

发表时间:2018-05-31  浏览量:647  下载量:77
全部作者: 曾宪衡,孙汉旭
作者单位: 北京邮电大学自动化学院空间机器人技术教育部国防重点实验室
摘 要: 根据双目相机的模型特点,对空间目标物体采取双目立体视觉测量,首先通过相机的内参数标定计算将物体的图像坐标与双目相机联系起来,接下来利用三维重建及立体匹配等方法,将物体的图像坐标转化为三维坐标,得到非合作目标物体关键特征点与双目相机的关系。然后根据非合作目标物体的结构特征,利用物体上的关键特征点建立物体坐标系。最终实现通过各个特征点的三维坐标解算非合作目标物体与双目相机的相对位姿关系。
关 键 词: 自动控制技术;位姿测量;非合作目标;立体视觉;三维重建;空间物体
Title: Pose calculation for the space target
Author: ZENG Xianheng, SUN Hanxu
Organization: Faculty of Automation Space Robotics Ministry of Education Defense Key Laboratory, School of Automation, Beijing University of Posts and Telecommunications
Abstract: According to the model features of binocular camera, binocular stereoscopic vision measurement is performed on the space target object. Firstly, the image coordinate of the object is linked with the binocular camera through the calibration calculation of the internal parameters of the camera. Then, through the methods of three-dimensional reconstruction and stereo matching, the image coordinates of the object are transformed into three-dimensional coordinates, and the relationship between the key feature points of the non-cooperative target object and the binocular camera can be obtained. Next, the object coordinate system is established using key feature points of the object based on the structural features of the non-cooperative target object. Finally, the three-dimensional coordinates of each feature point are used to solve the relative pose relationship between the non-cooperative object and the binocular camera.
Key words: autocontrol technology; pose measurement; non-cooperative target; stereo vision; three-dimensional reconstruction; space object
发表期数: 2018年5月第10期
引用格式: 曾宪衡,孙汉旭. 空间目标的位姿计算[J]. 中国科技论文在线精品论文,2018,11(10):1021-1030.
 
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