Non-texture spatial object attitude estimation algorithm based on contour point ORB (Oriented FAST and Rotated BRIEF) feature matching

Abstract

The invention provides a non-texture spatial object attitude estimation algorithm based on contour point ORB (Oriented FAST and Rotated BRIEF) feature matching, which belongs to the technical field ofdigital image processing. On the basis of three-dimensional model prior, data information contained in the contour of a projected image is made full use of, ORB feature matching and color indexing are used to build a 2D-3D feature corresponding relationship from an input image to an object three-dimensional model, matching errors are used to build a confidence probability matrix, and a weighted orthogonal projection algorithm is put forward to calculate six-degree of freedom attitude parameters of the non-texture spatial object. The ORB features improve the accuracy of contour point matching,and certain robustness is realized in a condition of large offset of an initial attitude relative to a real attitude. The contact between building of the 2D-3D corresponding relationship subproblem and calculation of the attitude parameter subproblem is thoroughly explored, the matching errors are used to build the confidence probability matrix as the prior information for calculating the attitude parameters, the phenomenon that an RANSAC algorithm is used to eliminate error matching points is avoided, and the algorithm calculation efficiency and the precision are improved.

Description

technical field [0001] The invention relates to the technical field of digital image processing of three-dimensional stereo vision, in particular to a texture-free spatial target pose estimation algorithm based on contour point ORB feature matching. Background technique [0002] In recent years, optical imaging systems have been widely used in space targets. Many practical functions such as automatic rendezvous and docking, on-orbit self-service, etc. need to determine the attitude parameters of space targets. Therefore, it is urgent to apply attitude estimation methods to space targets. required. On the other hand, with the rapid development of high-quality optical imaging systems, image data containing more detailed information of spatial objects can be used as the input of pose estimation, which is beneficial to improve the accuracy of pose estimation. [0003] A complete pose estimation method needs to solve two problems: first, it is necessary to determine the feature ...

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Problems solved by technology

However, the method using the iterative mechanism also has a common disadvantage, that is, it will be limited by the algorithm convergence speed and convergence radius, and the initial value often has a great influence on the algorithm effect.

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