摘要
针对空间机器人捕获空间非合作目标的相对位姿测量问题,提出了一种基于特征信息融合的位姿测量方法。该方法以航天器本体和远地端发动机引擎喷管作为两个识别特征,采用多边形逼近和最小二乘椭圆拟合算法完成特征的识别、提取,并由双目立体视觉视差原理计算特征点的位置,依据两个识别特征之间的几何关系,计算得出捕获装置的位姿。实验结果表明该方法具有算法简单、运行效率高、测量误差小的特点,能够满足空间非合作目标抓捕任务。
For a space robot to capture a non-cooperative spacecraft, a novel method for measurement of the relative pose of the spacecraft based on feature information fusion is proposed. The method chooses the outlines of the spacecraft itself and the engine nozzle as the recognition features. It uses the least square-elipse fitting algorithm and the poly- gon approximation method to extract and identify the features. Based on the disparity theory of stereo vision, the ac- tual positions of feature points are computed. The geometry relationship between the plane of the engine nozzle and the surface of the spacecraft is utilized to calculate the position and attitude of the spacecraft to be captured. The ex- perimental results indicate that the method possesses the characters of simple programming, efficienct computation, and high measurement accuracy, which satisfies the requirements of pose measurements in capturing non-cooperative targets.
出处
《高技术通讯》
CAS
CSCD
北大核心
2013年第11期1178-1184,共7页
Chinese High Technology Letters
基金
973计划(2013CB733103
2013CB733105)资助项目
关键词
特征融合
非合作目标
位姿测量
立体视觉
fusion feature, non-cooperative target, pose measurement, stereo vision
