多像机非共视场的非合作飞行器位姿测量方法
Pose measurement method for non-cooperative space vehicle using multiple non-overlapping cameras
查看参考文献14篇
文摘
|
以空间非合作飞行器视觉位姿测量为背景,针对近距离及超近距离情况下由于成像空间小、像机视场等限制,位姿测量所用的视觉特征将不能在单像机中完整成像而无法完成定位的问题,提出一种多像机非共视场的非合作飞行器位姿测量方法。首先将多个像机配置成非共视场的形式,标定各个像机之间的位置关系;然后利用多个像机对目标上的不同特征成像,来自不同像机的底层信息既有冗余又有互补,为位姿测量提供足够的视觉特征和几何特征;最后结合像机之间的位置关系将各个像机中的特征信息进行融合,进而以闭式解法计算目标位姿。实验结果验证了该方法的有效性以及在大目标近距离位姿测量应用中的优越性。 |
其他语种文摘
|
Taking pose measurement of non-cooperative space vehicle as research background, a new pose measurement method using multiple cameras with non-overlapping or slightly overlapping views was proposed to solve the problem that monocular vision-based method can not complete the pose estimation in close and ultra-close range, because of the limitation of the imaging space and the field of view, a monocular camera can not observe all the visual features used for pose estimation. Firstly, multiple cameras were configured in non-overlapping form, and the rotations and translations between cameras were calibrated. Then different cameras photographed the different features on the target, the underlying information from different cameras were both redundant and complementary, which provided adequated visual and geometric features for pose measurement. Finally, all the features information from different cameras were fused according to the relationship between cameras to calculate the pose in closed form solution. The experiment results demonstrate its effectiveness and superiority of the method for pose estimation for large target in close and ultra-close range. |
来源
|
红外与激光工程
,2013,42(3):709-715 【核心库】
|
关键词
|
位姿测量
;
计算机视觉
;
在轨服务
;
非合作目标
;
多像机非共视场
|
地址
|
中国科学院沈阳自动化研究所, 中国科学院光电信息处理重点实验室;;辽宁省图像理解与视觉计算重点实验室, 辽宁, 沈阳, 110016
|
语种
|
中文 |
文献类型
|
研究性论文 |
ISSN
|
1007-2276 |
学科
|
自动化技术、计算机技术 |
基金
|
国家自然科学基金
|
文献收藏号
|
CSCD:4834608
|
参考文献 共
14
共1页
|
1.
Tafazoli M. A study of on-orbit spacecraft failures.
Acta Astronautica,2009,64(2/3):195-205
|
被引
41
次
|
|
|
|
2.
崔乃刚. 空间在轨服务技术发展综述.
宇航学报,2007,28(4):805-811
|
被引
89
次
|
|
|
|
3.
Hirzinger G. DLR's robotics technologies for on-orbit servicing.
Advanced Robotics,2004,18(2):139-174
|
被引
34
次
|
|
|
|
4.
梁斌. 地球静止轨道在轨服务技术研究现状与发展趋势.
宇航学报,2010,31(1):1-13
|
被引
77
次
|
|
|
|
5.
Liang Bin. A Chinese small intelligent space robotic system for on-orbit servicing.
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems,2006:4603-4607
|
被引
4
次
|
|
|
|
6.
王保丰. 航天器交会对接中测量靶标的两种设计方法.
宇航学报,2008,29(1):162-166
|
被引
14
次
|
|
|
|
7.
张庆君. 基于双目视觉的航天器间相对位置和姿态的测量方法.
宇航学报,2008,29(1):156-161
|
被引
33
次
|
|
|
|
8.
李哲. 直线匹配的四元数位姿估计算法.
红外与激光工程,2012,41(8):2236-2240
|
被引
1
次
|
|
|
|
9.
Inaba N. Rescuing a stranded satellite in space-experimental robotic capture of non-cooperative satellites.
Transactions of the Japan Society for Aeronautical and Space Sciences,2006,48(162):213-220
|
被引
20
次
|
|
|
|
10.
Landzettel K.
Technology satellite for demonstration and verication of space systems
|
被引
1
次
|
|
|
|
11.
Xu Wenfu. Autonomous rendezvous and robotic capturing of non-cooperative target in space.
Acta Astronautica,2010,28(5):705-718
|
被引
2
次
|
|
|
|
12.
高学海. 基于单目视觉和激光测距仪的位姿测量算法.
仪器仪表学报,2007,28(8):1479-1485
|
被引
24
次
|
|
|
|
13.
Von Gioi R G. LSD: A fast line segment detector with a false detection control.
IEEE Transactions on Pattern Analysis and Machine Intelligence,2010,32(4):722-732
|
被引
211
次
|
|
|
|
14.
Akinlar C. EDLines: a real-time line segment detector with a false detection control.
Pattern Recognition Letters,2011,32(13):1633-1642
|
被引
57
次
|
|
|
|
|