中国空间科学技术

中国空间科学技术 ›› 2014, Vol. 34 ›› Issue (5): 24-31.doi: 10.3780/j.issn.1000-758X.2014.05.004

• 研究探讨 • 上一篇    下一篇

基于结构光的空间大目标特征重构与位姿测量

梁斌1，高学海1,2，徐文福3   

  1. （1哈尔滨工业大学航天学院，哈尔滨150001）（2深圳航天东方红海特卫星有限公司，深圳518057）
    （3哈尔滨工业大学深圳研究生院，深圳518055）
  • 收稿日期:2013-07-08 修回日期:2014-04-15 出版日期:2014-10-25 发布日期:2014-10-25
  • 作者简介:梁斌，1968年生，1994年获清华大学仪器科学与技术专业博士学位，现为哈尔滨工业大学教授、博士生导师。研究方向为空间机器人，控制理论及应用。 高学海，1983年生，2008年获合肥工业大学检测技术与自动化专业硕士学位，现为哈尔滨工业大学控制科学与工程专业博士研究生。研究方向为制导、导航与控制，视觉测量技术。
  • 基金资助:

    国家自然科学基金(61175098),航天科技创新基金(CASC201102)资助项目

Feature Reconstruction and Pose Determination for Large Space Target Based on Point Structured Light

 LIANG  Bin1, GAO  Xue-Ha1,2i, XU  Wen-Fu3   

  1. （1SchoolofAstronautics,HarbinInstituteofTechnology,Harbin150001)
    （2ShenzhenAerospaceDongfanghongHITSatelliteLtd.,Shenzhen518057）
    （3ShenzhenGraduateSchool,HarbinInstituteofTechnology,Shenzhen518055）
  • Received:2013-07-08 Revised:2014-04-15 Published:2014-10-25 Online:2014-10-25

PDF (PC)

2001

被引次数

3

摘要： 针对因缺少空间非合作大目标的全局特征而难以实现相对位姿测量的问题，提出利用点状光源与单目光学相机组成点结构光视觉测量系统进行特征重构与位姿测量的方法。以非合作大目标上尺寸未知的局部矩形特征为测量对象，首先建立点结构光视觉测量系统相对位姿测量模型；接着利用相对约束关系给出特征重构方法并获得隐性特征点；然后利用特征点计算测量系统与非合作大目标之间的相对转移矩阵得到相对位置和姿态。通过数字仿真校验该方法的有效性并对测量误差因素进行分析，仿真结果表明该测量方法是有效的。

关键词: 点结构光视觉, 非合作大目标, 特征重构, 位姿测量

Abstract: A vision system of space robot can not observe a whole feature image of a large non-cooperative target to measure the relative position and attitude. To overcome this problem, a point structured light vision system composed by a point structured light and a single camera was established to determine the relative pose. An unknown size partial rectangular framework of the target was chosen as the measurement object. Firstly, themeasurement model of the point structured light vision system was built and the relationships were presented. Secondly, according to the intrinsic constraint of the point structured light vision system, a whole feature was reconstructed and four feature points were calculated. Thirdly, the relative transform matrix between the measurement system and the target was computed by the  four feature points. And the relative position and attitude was derived from the transform matrix. Finally, numerical simulations were studied to verify the method and the measurement errors were analysed. The results show that this method is effective.

Key words: Point structured light vision, Non-cooperative large target, Feature reconstruction, Pose measurement