基于立体视觉的非合作目标位姿测量

摘要

The measurement of relative pose (position and attitude) between non-cooperative spacecrafts is the key step for on-orbital service such as autonomous rendezvous and capturing.A stereo vision-based method is discussed to measure the relative pose.The method is composed of image acquiring,image filtering,edge detection,feature extraction,target recognition,3D reconstruction and relative pose measurement.The computer simulations and experiments on the physical platform have been carried out.The simulation and experiment results indicate the accuracy and reliability of the method.%非合作航天器间相对位姿(位置和姿态)测量,是实现非合作目标的交会与捕获等在轨服务的前提.本文研究一种基于立体视觉的位姿测量方法,包括图像采集、图像滤波、边缘检测、特征提取、目标识别、3D重建、相对位姿计算等步骤,并分别进行计算机仿真和在自制物理平台上的验证实验.仿真实验结果验证了该方法的准确性和有效性.