Pose measurement of non-cooperative target based on full light field camera

Abstract

The invention discloses a method used for measuring the pose of a non-cooperative target based on a complete light field camera. The method is applied in the non-cooperative target containing a star arrow docking ring. The star arrow docking ring on the non-cooperative target is a circle and is characterized in that step 1, the light field image of the non-cooperative target with circular features is obtained by adopting the compete light field camera; step 2, surface normal vectors, and the coordinates of the circular center of the circular features are calculated in the main lens coordinate system of the complete light field camera; step 3, false solutions are removed; step 4, the pose of the non-cooperative target is acquired. According to the invention, the false solutions based on the monocular vision pose estimations of the circle can be effectively removed, so that the pose of the non-cooperative target which meets accuracy requirements can be obtained.

Description

technical field [0001] The invention relates to a non-cooperative target pose measurement method based on a full light field camera, which belongs to the field of three-dimensional vision target pose measurement. Background technique [0002] With the continuous development of computer vision technology, pose measurement based on computer vision is an important issue in many research fields such as modern navigation, tracking, control, etc., and has attracted much attention in various fields such as national defense, aerospace, aviation, industry, and medicine. In the field of aerospace, most of the on-orbit service spacecraft are non-cooperative targets, so the relative pose measurement of non-cooperative targets becomes the key to on-orbit service technology. For most non-cooperative targets, there is a star-arrow docking ring structure, which can provide a single circle feature, but the traditional monocular vision pose estimation based on the circle has two pose solution...

AI Technical Summary

Problems solved by technology

[0006] 1. Based on monocular vision and auxiliary feature measurement, the point and line features on the circular surface are used for pose estimation. The geometric information in the coordinate system, then the false solution obtained by traditional monocular vision cannot be eliminated.

[0007] 2. For the measurement method based on binocular stereo vision, it is necessary to use the images acquired by the left and right cameras to estimate the pose information of the circle, which greatly affects the real-time performance of the measurement

[0008] 3. For the pose measurement method based on the depth sensor, the output image is noisy, the resolution is low, and the measurement distance is short, so it is impossible to obtain long-distance non-cooperative target pose information

[0009] 4. The current vision-based circular pose measurement method is easy to lose focus when shooting non-cooperative targets, which brings blurred target images

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