Binocular Vision-based Position Determination Algorithm and System

摘要

In order to solve the problem of the non-cooperative target relative pose measurement in near distance(<;2m) for the on-orbit service, a stereo vision-based method was proposed to measure the relative pose (position and attitude) of a non-cooperative target, and a measuring system was established based on DSP. High Brightness Strip light sources were used to weaken the influence of light on measurement and make the recognized region prominent. After smoothing the captured image, edge image was obtained by using fast self-adaptive edge detection. The lines of the recognized region were extracted and tracked by using line feature extracting and tracking based on Hough transform and the end points of these lines were gotten. Finally, according to the coordinates of these end points, the coordinates of these points in the world coordinate were obtained by fast stereo matching and 3D reconstruction. The result of satellite model measurement demonstrate that the relative position errors are less than ±20mm, relative attitude errors are less than ±2°, and measuring speed is up to 8fps which satisfies the precision and speed requirement of the pose measurement. Finally, The errors in this measure system was analyzed.