摘要
提出了一种应用于卫星在轨自维护平台的视觉自主操作策略,阐述了标定、识别、定位及视觉伺服等关键内容。针对太空中变化强烈的光照环境,采用合作目标的方式对物体进行识别,并对识别算法进行了特别的设计以适用于卫星有限的计算能力。为了提高合作目标三维空间定位的精度,采用了一种合作目标亚像素精度定位的方法,为视觉伺服进行精确的操作奠定了基础。实验结果证明了此视觉自主操作策略的可行性。
An autonomous visual operation strategy was proposed to the key issues such as calibration, recognition, orientation and visual servoing. A cooperative object method was adopted to recognize objects to adapt the extreme light changing condition in space. An effective cooperative object recognition algorithm was proposed and optimized depending on the limited computing capability in the satellite on-orbit self-servicing platform. To improve orientation accuracy of the cooperative objective object in 3D Cartesian space, an orientation method with sub-pixed accuracy was implemented, which establishes a base for the imlementation of accurate visual servoing operation. The experiment results demonstrate the practicability of the proposed strategy.
出处
《吉林大学学报（工学版）》
EI
CAS
CSCD
北大核心
2008年第5期1231-1236,共6页
Journal of Jilin University:Engineering and Technology Edition
基金
“863”国家高技术研究发展计划项目(2006AA04Z228)
关键词
自动控制技术
在轨自维护
视觉伺服
识别
标定
定位
automatic control technology
on-orbit self-servicing
visual servo
recognition
calibration
orientation
