Liu Gangfeng, Xu Congcong, Zhu Yanhe, Zhao Jie
State Key Laboratory of Robotic and Systems, Harbin Institute of Technology, Heilongjiang 150001, China.
Sensors (Basel). 2019 Jul 24;19(15):3261. doi: 10.3390/s19153261.
Pose determination in close proximity is critical for space missions in which monocular vision is one of the most promising solutions. Although numerous approaches such as using artificial beacons or specific shapes on spacecrafts have proved to be effective, the high individuation and the large time delay limit their use in low impact docking. This paper proposes a unified framework to determinate the relative pose between two docking mechanisms by treating their guide petals as measurement objects. Fusing the pose information of one docking mechanism to simplify image processing and creating an intermediate coordinate system to solve the perspective-n-point problem greatly improve the real-time performance and the robustness of the method. Experimental results show that the position measurement error is within 3.7 mm, while the rotation error around docking direction is less than 0.16°, corresponding to a measurement time reduction of 85%.
在近距离任务中，姿态确定对于空间任务至关重要，其中单目视觉是最具前景的解决方案之一。尽管诸如使用人造信标或航天器上的特定形状等众多方法已被证明是有效的，但高个性化和大时间延迟限制了它们在低冲击对接中的应用。本文提出了一个统一框架，通过将两个对接机构的导向瓣视为测量对象来确定它们之间的相对姿态。融合一个对接机构的姿态信息以简化图像处理，并创建一个中间坐标系来解决透视n点问题，极大地提高了该方法的实时性能和鲁棒性。实验结果表明，位置测量误差在3.7毫米以内，而围绕对接方向的旋转误差小于0.16°，测量时间减少了85%。
