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Relative Pose Measurement Algorithm of Non-cooperative Target based on Stereo Vision and RANSAC
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Long Chen1,Baolong GUO2,Wei SUN3
*1, School of Mechano-electronic Engineering, Xidian University, Xi’an China, Email : poulo125@126.com
*2, School of Mechano-electronic Engineering, Xidian University, Xi’an China, Email : blguo@xidian.edu.cn
*3, School of Mechano-electronic Engineering, Xidian University, Xi’an China, Email : sunweitom@tom.com
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Abstract
.The final approach phase of spacecraft rendezvous and docking is extremely important. In order to solve the problem of the real-time acquisition of the relative pose between target and spacecraft in near distance (<2m), this paper established a binocular stereovision model, and proposed a Non-cooperative target relative pose measuring method based on stereo vision and RANSAC algorithm. Linear characteristic of Non-cooperative target was used to abstract feature points firstly, then stereo matching and three-dimensional restructuring were taken for the feature points, finally, an algorithm based on RANSAC algorithm was used to calculate the relative pose between the target and the camera. Therefore, errors were eliminated effectively, and the computation load was decreased by using disparity gradient constraint. Experimental results show that high accuracy and real-time results are the advantages of this method.
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Keywords
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Stereo vision;Non-cooperative target;Relative pose;RANSAC;Disparity gradient
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URL: http://dx.doi.org/10.7321/jscse.v2.n4.3
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