SIA OpenIR  > 光电信息技术研究室
Alternative TitleRelative position and posture measurement method for satellite docking ring target based on structured light
李展1,2,3,4; 郝颖明1,3,4; 付双飞1,3,4
Source Publication计算机工程与应用
Indexed ByCSCD
Contribution Rank1
Funding OrganizationNSFC-深圳机器人基础研究中心项目(No.U1713216)
Keyword结构光 非合作目标 在轨服务 目标识别 位姿测量
Other AbstractSpatial non-cooperative target position and posture measurement is the premise of space maintenance on orbit servicing. In this paper, a spatial non-cooperative target vision measurement method based on structured light is proposed in view of the application requirement that space manipulator automatically captures space carriers. It consists of two sets of double line structured light measuring devices, using the docking ring which commonly exists on space carriers as target. According to the common characteristics of the docking ring, the combination of the linear feature and the point feature are chosen as the solution features of the relative position. The relative pose relationship between the manipulator coordinate system and the docking ring coordinate system is obtained based on the straight line feature for the circular plane normal vector and the point feature for center coordinates of the circle. Robust recognition of target lines on different illumination conditions is obtained based on multiple geometric constraints. The demonstration and verification experiment system was established, and the experimental results were analyzed on the basis of a large number of demonstration experiments.
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Document Type期刊论文
Corresponding Author李展
Recommended Citation
GB/T 7714
李展,郝颖明,付双飞. 基于结构光的星箭对接环相对位姿测量方法[J]. 计算机工程与应用,2019,55(10):205-212.
APA 李展,郝颖明,&付双飞.(2019).基于结构光的星箭对接环相对位姿测量方法.计算机工程与应用,55(10),205-212.
MLA 李展,et al."基于结构光的星箭对接环相对位姿测量方法".计算机工程与应用 55.10(2019):205-212.
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