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基于SoftPOSIT算法的单目视觉非合作目标相对位姿估计 被引量:4
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作者 张鑫 张雅声 +1 位作者 程文华 姚红 《上海航天》 2016年第3期124-129,共6页
针对模型尺寸已知的非合作目标,在目标三维特征点和图像二维特征点坐标已知但匹配关系未知的条件下,对基于SoftPOSIT算法的非合作目标航天器间相对位姿估计方法进行了研究。SoftPOSIT算法将解决匹配的Softassign和解决位姿的POSIT两种... 针对模型尺寸已知的非合作目标,在目标三维特征点和图像二维特征点坐标已知但匹配关系未知的条件下,对基于SoftPOSIT算法的非合作目标航天器间相对位姿估计方法进行了研究。SoftPOSIT算法将解决匹配的Softassign和解决位姿的POSIT两种迭代方法融入一个迭代循环,建立全局目标函数,最小化目标函数就可在获得服务航天器与目标航天器相对位姿的同时确定三维点与二维点间的匹配关系。仿真结果表明由SoftPOSIT算法所得位态精度很高,算法正确有效。在不同条件下用该算法对某卫星位姿进行估计,发现算法的相对位置估计精度随目标与服务航天器相对距离增大而提高,而相对姿态角对估计精度的影响较小。 展开更多
关键词 非合作目标 相对位姿 单目视觉 SoftPOSIT算法 匹配关系 估计精度 目标三特征 图像二维特征点
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STATISTICAL PROBABILITY BASED ALGORITHM FOR EXTRACTING FEATURE POINTS IN 2-DIMENSIONAL IMAGE
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作者 GuanYepeng GuWeikang YeXiuqing LiuJilin 《Journal of Electronics(China)》 2004年第2期170-176,共7页
An algorithm for automatically extracting feature points is developed after the area of feature points in 2-dimensional (2D) imagebeing located by probability theory, correlated methods and criterion for abnormity. Fe... An algorithm for automatically extracting feature points is developed after the area of feature points in 2-dimensional (2D) imagebeing located by probability theory, correlated methods and criterion for abnormity. Feature points in 2D image can be extracted only by calculating standard deviation of gray within sampled pixels area in our approach statically. While extracting feature points, the limitation to confirm threshold by tentative method according to some a priori information on processing image can be avoided. It is proved that the proposed algorithm is valid and reliable by extracting feature points on actual natural images with abundant and weak texture, including multi-object with complex background, respectively. It can meet the demand of extracting feature points of 2D image automatically in machine vision system. 展开更多
关键词 Probability theory Standard deviation Abnormity Noise Feature point
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