空间控制技术与应用2023，Vol.49Issue(6)：28-37,10.DOI:10.3969/j.issn.1674-1579.2023.06.003
一种基于双目视觉的立方星位姿参数估计算法
A CubeSat Pose Estimation Algorithm Based on Binocular Vision
摘要
Abstract
Aiming at the problem of poor robustness of the current spatial non-cooperative CubeSat pose estimation algorithm using image features,a design scheme using CubeSat vertices for pose estimation method is proposed in this paper.Based on the grayscale image obtained by binocular vision,HED(holistically-nested edge detection)network and binary morphology processing method are used to improve the robustness of edge extraction.After de-tecting the polygon features in the edge image,the polygons with repeated and interference are filtered out,and the key vertices of the CubeSat are identified by a common-side double-frame key vertices discrimination algorithm,which realizes the estimation of the structural parameters and pose of the CubeSat.The CubeSat model is used for experimental verification.Compared with ICP(iterative closest point)precise registration method,the overall method achieves a maximum deviation of 4.4° and 1.2cm within the detection distance of 30～70cm.In this pa-per,the edge extraction method improves the discriminant accuracy of target structural parameters by 10％～40％,which provides a new idea for the estimation of structural parameters and pose of non-cooperative target CubeSat.关键词
非合作目标/立方星/HED网络/结构参数估计/位姿估计Key words
non-cooperative object/CubeSat/HED network/structural parameter estimation/pose estimation分类
信息技术与安全科学引用本文复制引用
张杜祥,刘成..一种基于双目视觉的立方星位姿参数估计算法[J].空间控制技术与应用,2023,49(6):28-37,10.基金项目
中科院国家空间科学中心"攀登计划"支持(E1PD30031S)Pandeng Program of National Space Science Center,Chinese Academy of Sciences(E1PD30031S （E1PD30031S）
