Adapter ring is a commonly used component in non-cooperative satellites,which has high strength and is suitable to be recognized and grasped by the space manipulator.During proximity operations,this circle feature may...Adapter ring is a commonly used component in non-cooperative satellites,which has high strength and is suitable to be recognized and grasped by the space manipulator.During proximity operations,this circle feature may be occluded by the robot arm or limited field of view.Moreover,the captured images may be underexposed when there is not enough illumination.To address these problems,this paper presents a structured light vision system with three line lasers and a monocular camera.The lasers project lines onto the surface of the satellite,and six break points are formed along both sides of the adapter ring.A closed-form solution for real-time pose estimation is given using these break points.Then,a virtual structured light platform is constructed to simulate synthetic images of the target satellite.Compared with the predefined camera parameters and relative positions,the proposed method is demonstrated to be more effective,especially at a close distance.Besides,a physical space verification system is set up to prove the effectiveness and robustness of our method under different light conditions.Experimental results indicate that it is a practical and effective method for the pose measurement of on-orbit tasks.展开更多
Visual method including binocular stereo vision method and monocular vision method of the relative position and pose measurement for space target has become relatively mature, and many researchers focus on the method ...Visual method including binocular stereo vision method and monocular vision method of the relative position and pose measurement for space target has become relatively mature, and many researchers focus on the method based on three-dimension measurement recently. ICP alignment, which is the key of three-dimension pattern measurement method, has the problem of low efficiency in large data sets. Considering this problem, an improved ICP algorithm is proposed in this paper. The improved ICP algorithm is the combination of the original ICP algorithm and KD-TREE. The experimental comparison between the improved ICP algorithm and the traditional ICP algorithm in efficiency has been given in this paper, which shows that the improved ICP algorithm can get much better performance.展开更多
基金financial support provided by the Foundation for Innovative Research Groups of the National Natural Science Foundation of China (Nos. 51521003 and 61690210)
文摘Adapter ring is a commonly used component in non-cooperative satellites,which has high strength and is suitable to be recognized and grasped by the space manipulator.During proximity operations,this circle feature may be occluded by the robot arm or limited field of view.Moreover,the captured images may be underexposed when there is not enough illumination.To address these problems,this paper presents a structured light vision system with three line lasers and a monocular camera.The lasers project lines onto the surface of the satellite,and six break points are formed along both sides of the adapter ring.A closed-form solution for real-time pose estimation is given using these break points.Then,a virtual structured light platform is constructed to simulate synthetic images of the target satellite.Compared with the predefined camera parameters and relative positions,the proposed method is demonstrated to be more effective,especially at a close distance.Besides,a physical space verification system is set up to prove the effectiveness and robustness of our method under different light conditions.Experimental results indicate that it is a practical and effective method for the pose measurement of on-orbit tasks.
文摘Visual method including binocular stereo vision method and monocular vision method of the relative position and pose measurement for space target has become relatively mature, and many researchers focus on the method based on three-dimension measurement recently. ICP alignment, which is the key of three-dimension pattern measurement method, has the problem of low efficiency in large data sets. Considering this problem, an improved ICP algorithm is proposed in this paper. The improved ICP algorithm is the combination of the original ICP algorithm and KD-TREE. The experimental comparison between the improved ICP algorithm and the traditional ICP algorithm in efficiency has been given in this paper, which shows that the improved ICP algorithm can get much better performance.
