The invention discloses a spatial non-cooperative target
pose estimation method based on model and point clod
global matching. The method comprises the steps that target scene
point cloud is acquired by using a depth camera, the target scene
point cloud acts as
data point cloud to be registered after being filtered, and three-dimensional distance transformation is carried out on the target model
point cloud;
deblurring main directional transformation is carried out on the initial
data point cloud to be registered and the target model point cloud, a translation domain is determined, search and registration are carried out in the translation domain and a rotation domain by using a global ICP
algorithm, and an initial
transformation matrix from a model coordinate
system to a camera coordinate
system is acquired, namely, the initial
pose of a target is acquired; a
pose transformation matrix of the pervious frame is enabled to act on
data point cloud of the current frame, and registration with a model is carried out by using the ICP
algorithm so as to acquire the pose of the current frame; and a rotation angle and a translation amount are calculated from the pose
transformation matrix. The method disclosed by the invention has good anti-
noise performance and an ability of outputting the target pose in real time, geometric features such as the normal and the curvature of the data point cloud are not required to be calculated, the registration speed is high, and the precision is high.