基于几何特征的非合作目标相对位置和姿态估计

doi:10.3969/j.issn.1674-1579.2015.03.002

Abstract

Abstract: A relative estimation method of noncooperative spacecraft is proposed based on stereo vision with unknown geometric parameters. The image of target is smoothed and thinned by Canny operator. Edge segments, represented by linkedlists, are classified into straight segments and arc segments. Rectangle features and circle features are recognized from straight and arc segments respectively. Algorithm for relative position and attitude estimation of rectangle is designed based on the property of vanishing point of parallel lines. We also presented a novel and efficient method of estimating relative position and attitude and radius of circle. At the end, real images are tested to validate the proposed algorithms.

Key words: relative position, relative attitude, feature matching

CLC Number:

LI Yi-Peng, ZHAO Chun-Hui, WANG Li. Relative Position and Attitude Estimation of NonCooperative Spacecraft Based on Geometric Features[J]., 2015, 41(3): 8-13.

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URL: http://journal01.magtech.org.cn/Jwk3_kjkzjs/EN/10.3969/j.issn.1674-1579.2015.03.002

http://journal01.magtech.org.cn/Jwk3_kjkzjs/EN/Y2015/V41/I3/8

References

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Relative Position and Attitude Estimation of NonCooperative Spacecraft Based on Geometric Features

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