Liu Zibin, Liu Haibo, Zhu Zhaokun, Song Junyao
Appl Opt. 2021 Aug 1;60(22):6479-6486. doi: 10.1364/AO.428805.
The relative pose estimation of uncooperative spacecraft is an essential technology in space missions. However, lacking the prior knowledge of uncooperative targets brings great challenges to accurately measure their pose, which hinders their application in space. To overcome these problems, an accurate and robust pose estimation approach for uncooperative spacecraft is proposed based on a time-of-flight camera coupled with a gray-scale camera. We reconstruct the target model using our hierarchical registration strategy by the ToF camera and extract 2D lines from image sequences captured by the gray-scale camera. We attempt to establish 2D-3D line correspondences for pose estimation, which effectively associates the 2D image information with the reconstructed 3D model. Experimental results manifest that, when dealing with a completely unknown model, our method computes its relative position and attitude with significantly high accuracy.
非合作航天器的相对姿态估计是空间任务中的一项关键技术。然而，由于缺乏非合作目标的先验知识，准确测量其姿态面临巨大挑战，这阻碍了它们在空间中的应用。为克服这些问题，基于飞行时间相机和灰度相机，提出了一种用于非合作航天器的精确且鲁棒的姿态估计方法。我们通过飞行时间相机利用分层配准策略重建目标模型，并从灰度相机捕获的图像序列中提取二维直线。我们尝试建立二维-三维直线对应关系以进行姿态估计，从而有效地将二维图像信息与重建的三维模型关联起来。实验结果表明，在处理完全未知模型时，我们的方法能够以显著的高精度计算其相对位置和姿态。
