Visual sensors are used to measure the relative state of the chaser spacecraft to the target spacecraft during close range ren- dezvous phases. This article proposes a two-stage iterative algorithm based on an inverse...Visual sensors are used to measure the relative state of the chaser spacecraft to the target spacecraft during close range ren- dezvous phases. This article proposes a two-stage iterative algorithm based on an inverse projection ray approach to address the relative position and attitude estimation by using feature points and monocular vision. It consists of two stages： absolute orienta- tion and depth recovery. In the first stage, Umeyama＇s algorithm is used to fit the three-dimensional （3D） model set and estimate the 3D point set while in the second stage, the depths of the observed feature points are estimated. This procedure is repeated until the result converges. Moreover, the effectiveness and convergence of the proposed algorithm are verified through theoreti- cal analysis and mathematical simulation.展开更多
To make the problems of existing high requirements of calibration tools, complex global calibration process addressed for monocular multi-view visual measurement system during measurement, in the paper, a global calib...To make the problems of existing high requirements of calibration tools, complex global calibration process addressed for monocular multi-view visual measurement system during measurement, in the paper, a global calibration method is proposed for the geometric properties of rotational correlation motion and the absolute orientation of the field of view without over lap. Firstly, a dual-camera system is constructed for photographing and collecting the rotating image sequence of two flat targets rigidly connected by a long rod at different positions, and based on the known parameters, such as, target feature image, world coordinates, camera internal parameters and so on, then the global PnP optimization method is used to solve the rotation axis and the reference point at different positions;Then, the absolute orientation matrix is constructed based on the parameters of rotation axis, reference point and connecting rod length obtained by this method. In the end, the singular value decomposition method is used to find the optimal rotation matrix, and then get the translation matrix. It’s shown based on simulation and actual tests that in comparison with the existing methods, the maximum attitude and pose errors is 0.0083˚ and 0.3657 mm, respectively, which improves the accuracy by 27.8% and 24.4%, respectively. The calibration device in this paper is simple, and there are no parallel, vertical and coplanar requirements between multiple rotating positions. At the same time, in view of the calibration accuracy, the accuracy requirements of most application scenarios can be met.展开更多
基金Program for Changjiang Scholars and Innovative Research Team in University (IRT0520)Ph.D.Programs Foundation of Ministry of Education of China (20070213055)
文摘Visual sensors are used to measure the relative state of the chaser spacecraft to the target spacecraft during close range ren- dezvous phases. This article proposes a two-stage iterative algorithm based on an inverse projection ray approach to address the relative position and attitude estimation by using feature points and monocular vision. It consists of two stages： absolute orienta- tion and depth recovery. In the first stage, Umeyama＇s algorithm is used to fit the three-dimensional （3D） model set and estimate the 3D point set while in the second stage, the depths of the observed feature points are estimated. This procedure is repeated until the result converges. Moreover, the effectiveness and convergence of the proposed algorithm are verified through theoreti- cal analysis and mathematical simulation.
文摘To make the problems of existing high requirements of calibration tools, complex global calibration process addressed for monocular multi-view visual measurement system during measurement, in the paper, a global calibration method is proposed for the geometric properties of rotational correlation motion and the absolute orientation of the field of view without over lap. Firstly, a dual-camera system is constructed for photographing and collecting the rotating image sequence of two flat targets rigidly connected by a long rod at different positions, and based on the known parameters, such as, target feature image, world coordinates, camera internal parameters and so on, then the global PnP optimization method is used to solve the rotation axis and the reference point at different positions;Then, the absolute orientation matrix is constructed based on the parameters of rotation axis, reference point and connecting rod length obtained by this method. In the end, the singular value decomposition method is used to find the optimal rotation matrix, and then get the translation matrix. It’s shown based on simulation and actual tests that in comparison with the existing methods, the maximum attitude and pose errors is 0.0083˚ and 0.3657 mm, respectively, which improves the accuracy by 27.8% and 24.4%, respectively. The calibration device in this paper is simple, and there are no parallel, vertical and coplanar requirements between multiple rotating positions. At the same time, in view of the calibration accuracy, the accuracy requirements of most application scenarios can be met.
