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Proceedings Paper

Binocular vision 6-DOF pose measurement method based on docking ring
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Paper Abstract

The docking ring is a typical structure on space targets, and the spatial circle feature extracted from it is an important reference mark for non-cooperative space target vision measurement. However, there are two problems in the pose calculation process: the docking ring pose calculation result of the monocular camera is ambiguous, and the roll angle information cannot be obtained when the pose is solved. In this paper, a non-cooperative space target binocular vision 6- DOF pose measurement method based on docking ring feature is proposed. The binocular vision measurement system is used to solve the ambiguity problem of the docking ring calculation result, and the target coordinate system is constructed by selecting reference feature point outside the docking ring to realize 6-DOF pose measurement. The accuracy and stability of the method are verified by digital simulation experiments, and the results indicate that the method still can calculate stable pose when the pixel position error is 4 pixels. In the scene simulation experiments, the absolute error of vertical optical axis position measurement is less than 1.6 mm, the relative error of parallel optical axis position measurement is less than 0.7%, and the absolute error of attitude measurement is less than 0.2 deg, which can meet the requirements of space navigation mission.

Paper Details

Date Published: 18 December 2019
PDF: 8 pages
Proc. SPIE 11338, AOPC 2019: Optical Sensing and Imaging Technology, 113380I (18 December 2019); doi: 10.1117/12.2541523
Show Author Affiliations
Kun Yu, Harbin Institute of Technology (China)
Wencong Dai, Harbin Institute of Technology (China)
Mingyu Cong, Harbin Institute of Technology (China)

Published in SPIE Proceedings Vol. 11338:
AOPC 2019: Optical Sensing and Imaging Technology
John E. Greivenkamp; Jun Tanida; Yadong Jiang; HaiMei Gong; Jin Lu; Dong Liu, Editor(s)

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