基于航天應(yīng)用的多圓特征識別和姿態(tài)估計
發(fā)布時間：2019-01-13 20:50
【摘要】：為了實現(xiàn)多圓特征識別和姿態(tài)估計,將航天器常見的幾何特征如旋轉(zhuǎn)體(SOR)應(yīng)用于姿態(tài)估計,提出了一種基于橢圓歸類的單目視覺姿態(tài)估計方法。在圖像中采用基于弧段的橢圓檢測方法檢測目標(biāo)上的橢圓特征;提出一種基于SOR空間圓平行性和垂直性約束的橢圓歸類方法,得到合理的橢圓特征;利用這些特征估計航天器和攝像機(jī)之間的姿態(tài)。實驗結(jié)果表明:該方法具有較好的橢圓歸類效果和姿態(tài)估計精度,對于含有0~16%的椒鹽噪聲的仿真圖,歸類精確率不低于97%;實物實驗中,角度誤差不超過1°,深度方向(小于10 m)的測量誤差不超過80mm,其他方向的測量誤差不超過15mm。
[Abstract]:In order to realize multi-circle feature recognition and attitude estimation, a monocular visual attitude estimation method based on ellipse classification is proposed by applying the common geometric features of spacecraft, such as rotating body (SOR), to attitude estimation. The ellipse feature of the target is detected by using the ellipse detection method based on arc segment, and an ellipse classification method based on SOR space circle parallelism and perpendicularity constraint is proposed to obtain the reasonable elliptic feature. These features are used to estimate the attitude between the spacecraft and the camera. The experimental results show that this method has good ellipse classification effect and attitude estimation accuracy, and the accuracy rate of classification is not less than 97 for the simulation diagram containing 0 ~ 16% salt and pepper noise. In the experiment, the angle error is not more than 1 擄, the depth direction is less than 10 m, the measurement error is not more than 80 mm, and the other direction measurement error is not more than 15 mm.
【作者單位】： 哈爾濱工業(yè)大學(xué)電氣工程及自動化學(xué)院;
【基金】：國家自然科學(xué)基金(51075095)
【分類號】：TP391.41;V448
[Abstract]:In order to realize multi-circle feature recognition and attitude estimation, a monocular visual attitude estimation method based on ellipse classification is proposed by applying the common geometric features of spacecraft, such as rotating body (SOR), to attitude estimation. The ellipse feature of the target is detected by using the ellipse detection method based on arc segment, and an ellipse classification method based on SOR space circle parallelism and perpendicularity constraint is proposed to obtain the reasonable elliptic feature. These features are used to estimate the attitude between the spacecraft and the camera. The experimental results show that this method has good ellipse classification effect and attitude estimation accuracy, and the accuracy rate of classification is not less than 97 for the simulation diagram containing 0 ~ 16% salt and pepper noise. In the experiment, the angle error is not more than 1 擄, the depth direction is less than 10 m, the measurement error is not more than 80 mm, and the other direction measurement error is not more than 15 mm.
【作者單位】： 哈爾濱工業(yè)大學(xué)電氣工程及自動化學(xué)院;
【基金】：國家自然科學(xué)基金(51075095)
【分類號】：TP391.41;V448
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