An Accurate Measurement System for Non-cooperative Spherical Target Based on Calibrated Lasers

摘要

Strong demands for accurate measurement of non-cooperative targets have been arising for the tasks of assembling and capturing recently. Spherical object is one of the most common targets in these applications. The existing measurement system has limitations in detecting textureless target in spite of their high price. In this paper, we propose a novel measurement system for textureless non-cooperative spherical target based on four calibrated lasers and a vision camera. By using the pre-calibrated lasers, our system can definitely reconstruct the 3-D positions of the laser spots on target without any depth sensor. The experiment results show that the pose and the radius of spherical target can be estimated with high accuracy in real time.