一种非合作卫星目标立体视觉测量技术

Measurement Technology Based on Stereo Vision for Non-Cooperative Targets

针对空间非合作卫星近距离的相对位置和姿态测量问题,提出一种立体视觉测量技术.使用激光雷达为双目立体视觉提供先验距离信息和粗略姿态,在双目相机左右图像特征提取时增加视差范围约束,限定左右图中同名特征点提取的范围,可避免杂光条件下局部复杂纹理的干扰,有效降低计算复杂度,提高图像处理的速度.通过地面闭环试验对测量技术进行了验证,实验结果表明方法的有效性和先进性.

A stereo vision based pose measurement method is proposed for non-cooperative space targets. Laser radar can provide prior information such as distance and position for binocular vision system. Based on the information, the search area can be narrowed for the image pair because the disparity is deter- mined for a certain distance. The compute complexity can be reduced so that measurement efficiency is improved. Meanwhile, algorithm is more robust because the texture complexity caused by stray light is lower at local area than global image. A closed-loop experiment is conducted to validate the performance of proposed method.