关键词: 激光雷达, 三维点云, 2D图像, 位置和姿态, 信息融合

Abstract: The measurement of the pose of noncooperative targets is one of the very popular research directions in the field of space technology. The sensors include laser sensors and binocular measurement sensors. The precision of threedimension sensors such as lidar is sensitive to the reflectivity of the target surface. The precision of the binocular measurement sensors is limited by stray light and the length of base line. According to the shortage of lidar and the binocular measurement sensors, a computing method of the pose of noncooperative targets by fusing the 2D image and 3D point cloud is presented, in which the advantage of lidar and the binocular measurement sensors are utilized. The feasibility of the method is validated by simulating and experimentation.

Key words: laser rader, 3D point cloud, 2D image, postition and attitude, information fusion