CAJ | 학술논문

为了解决在轨维护和轨道垃圾清除中非合作目标的识别问题,提出了基于立体视觉的位姿(位置和姿态)测量方法.采用中值滤波器对原始图像进行平滑,去除星空背景干扰和其它噪声;将Canny边沿检测器用于对平滑后的图像进行检测,得到包含边沿信息的二值图像.然后,对该二值图像进行Hough变换,提取待识别对象的直线特征,并计算直线间的交点.最后,对所提取的左、右相机图像的点特征进行3D重构,得到各点在世界坐标系中的坐标,并据此建立目标坐标系,求出其相对于世界坐标系的位置和姿态.仿真结果表明,对于较远距离(>2.5 m),位置测量精度优于40 mm,而近距离内(<2.0 m)优于10 mm,相对姿态精度优于2°,基本满足对非合作目标进行跟踪、接近、绕飞等位姿测量要求.
위료해결재궤유호화궤도랄급청제중비합작목표적식별문제,제출료기우입체시각적위자(위치화자태)측량방법.채용중치려파기대원시도상진행평활,거제성공배경간우화기타조성;장Canny변연검측기용우대평활후적도상진행검측,득도포함변연신식적이치도상.연후,대해이치도상진행Hough변환,제취대식별대상적직선특정,병계산직선간적교점.최후,대소제취적좌、우상궤도상적점특정진행3D중구,득도각점재세계좌표계중적좌표,병거차건립목표좌표계,구출기상대우세계좌표계적위치화자태.방진결과표명,대우교원거리(>2.5 m),위치측량정도우우40 mm,이근거리내(<2.0 m)우우10 mm,상대자태정도우우2°,기본만족대비합작목표진행근종、접근、요비등위자측량요구.
A stereo vision-based method was proposed to measure the relative poses (position and attitude) between the two non-cooperative spacecrafts to solve the problem of the non-cooperative target recognition for the on-orbital maintenance and space debris removal. A median filter was used to smooth the original images by removing the disturbance of orbital background and other noises. The edges in the smoothed images were detected using the Canny edge detector to obtain the corresponding binary images. Then, the straight lines of the object to be recognized were extracted from the binary images through Hough transform, and the intersection points among these lines were determined. Finally, the feature points in the left and right images were reconstructed in 3D to obtain the coordinates of the object points in the world frame. Based on these points, the target frame was defined and the pose of the target with respect to the world frame was determined. Simulation results indicate that the position errors are lower than 40 mm in the farther distance (>2.5 m) and 10 mm in the nearer distance (<2.0 m), and the orientation errors are less than 2°,which satisfies the requirements of pose measurements during the tracking, approaching and flying round the non-cooperative target.