基于ORB-SLAM的低照度空间非合作目标的姿态估计

ATTITUDE ESTIMATION OF AN NON-COOPERATIVE SPACECRAFT IN LOW-LIGHT CONDITION BASED ON ORB-SLAM ALGORITHM

相机视觉观测在空间技术中有着广阔的工程应用前景,然而太空的弱光照条件会影响相机所采集图像的质量.本文将低照度增强LIME算法与ORB-SLAM算法相结合,提出了一种弱光照条件下空间非合作目标的姿态估计方案.该方案首先运用LIME算法对图像进行增强处理,以能够从中提取出目标上足够的特征点,然后利用ORB-SLAM算法对目标的姿态进行有效估计.仿真结果表明,本文所提方案可以有效地实现弱光照情况下空间非合作目标的姿态估计.

The visual technology has a broad application prospect in the space technology.However,the low-light con⁃dition in space always affects the image quality of the camera.In this paper,an attitude estimation scheme for non-coop⁃erative spacecraft in low-light condition was proposed by combining LIME and ORB-SLAM algorithms.The LIME algo⁃rithm was firstly utilized to enhance the image so that sufficient feature points can be extracted from the image.The ORBSLAM algorithm was then used to estimate the attitude of the non-cooperative target.The simulation results showed that the proposed scheme can effectively estimate the attitude of non-cooperative targets in low-light condition.