摘要
非合作航天器间相对位姿(位置和姿态)测量,是实现非合作目标的交会与捕获等在轨服务的前提。本文研究一种基于立体视觉的位姿测量方法,包括图像采集、图像滤波、边缘检测、特征提取、目标识别、3D重建、相对位姿计算等步骤,并分别进行计算机仿真和在自制物理平台上的验证实验。仿真实验结果验证了该方法的准确性和有效性。
The measurement of relative pose （position and attitude） between non-cooperative spacecrafts is the key step for on-or- bital service such as autonomous rendezvous and capturing. A stereo vision-based method is discussed to measure the relative pose. The method is composed of image acquiring, image filtering, edge detection, feature extraction, target recognition, 3D re- construction and relative pose measurement. The computer simulations and experiments on the physical platform have been carried out. The simulation and experiment results indicate the accuracy and reliability of the method.
出处
《计算机与现代化》
2013年第8期85-91,共7页
Computer and Modernization
基金
国家自然科学基金资助项目(60974105
61074161)
关键词
立体视觉
非合作目标
位姿测量
stereo vision
non-cooperative target
pose measurement
