During the final approach phase of the on-orbit service, high accuracy positional measurement of the non-cooperative target is critical to the success of the mission. In this paper, a convergent trinocular stereo vision measurement model is studied. First, trinocular stereo vision non-linear solving methods were investigated; then, the relationship between the structural parameter configuration of the stereo vision measurement model and the 3D coordinate measurement accuracy, as well as the relationship between the stereo vision camera position placement structure and the effective detection field of view of the measurement system is studied, providing a theoretical basis for the system configuration and optimal configuration design of the trinocular stereo vision camera; afterwards, the three cameras were designed with a baseline distance of 1.3m and the optical axis of each camera was tilted 18° towards the centre of the "Y" bracket, which could meet the continuous position measurement of large non-cooperative targets at close range with high accuracy. Finally, the simulation result of the motion of the non-cooperative target from 15.0 to 1.8m validates that the model has high accuracy and strong robustness in positional solution.
The precondition of clearing space non-cooperative targets is to obtain the relative position and attitude of space noncooperative target. In this paper, a new pose estimation method based on the geometric features in the depth image is proposed to obtain the relative position and attitude of the space non-cooperative target. The proposed method detects the docking ring and other geometric features of various payloads in the depth image of time-of-flight (TOF) camera, and then converts the detected image into a smaller point cloud utilizing the TOF camera parameters. Finally, we register the filtered point cloud of every two frames with Iterative Closest Point (ICP) method and calculate the rotation and translation matrix. The experimental results verifies that the proposed method can estimate the relative position and attitude with less errors and calculation, which meets the requirement of on-orbit service.
In this paper, a trinocular vision measurement method of visible cameras with wide field of view is proposed for the limitations of binocular stereo vision technology, such as blind spot in some areas with large measuring angles, mismatching of feature points location and limited field of view. Firstly, three visible light cameras arranged in an equilateral triangle arrangement are used to obtain images with a field of view of 60°×60°. Then, the measurement method based on trinocular stereo vision is researched: FAST algorithm is used to detect the feature points of the three images and the method of tri-crossing polar line constraint is used to match the feature points. Then the RANSAC method is used to calculate the position and attitude with the world coordinate system. After all, the proposed method is demonstrated by some experimental results. This method provides a solution for the relative pose measurement of noncooperative target in complex scenes/sparse features, and the problem of high matching rate based on image similarity matching in binocular stereo vision measurement can be avoided by using the tri-crossing polar line constraint, thus higher pose resolution accuracy can be obtained.
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