基于单目悬停相机的定轴慢旋空间非合作目标三维表面重建  

3D Surface Reconstruction of Non Cooperative Targets in Fixed Axis and Slow Rotation Space Based on Monocular Hovering Camera

作　　者：谢朝毅 田金文 张钧 XIE Chaoyi;TIAN Jinwen;ZHANG Jun(State Key Laboratory of Nulti Spectral Information Processing Technology,School of Automation,Huazhong University of Science and Technology,Wuhan 430074)

机构地区：[1]华中科技大学自动化学院多谱信息处理技术国家级重点实验室,武汉430074

出　　处：《舰船电子工程》2018年第3期85-88,93,共5页Ship Electronic Engineering

摘　　要：基于单目悬停相机的定轴慢旋空间非合作目标三维表面重建技术在反卫星、航天器对接、小卫星编组飞行等应用中起着基础性和关键性作用,对维护我国未来的国家太空安全有着至关重要的作用。论文的主要工作包括两个部分:通过序列图像和运动恢复结构算法重建空间非合作目标的三维表面及解算相机相对目标的相对位姿;根据解算的结果分析解算精度。经过该文的研究,得到了相机相对于目标的位置和姿态,解算得到目标自旋角速度的精度随着角速度的增加而减小,自旋角速度在1.83°/s的时候精度为0.06°;通过统计计算得到三维重建目标边缘完整度达到80.44%,重建的精度达到1.5cm,达到了业内高精度的水准。通过统计分析得到这个算法在慢旋目标的三维重建及位姿精度解算过程具有很强的鲁棒性。Non cooperative target 3D surface reconstruction technology based on monocular camera hovering fixed axis slow spin space and plays a fundamental and key role in anti satellite,spacecraft docking,small satellite flight marshalling applications plays an important role in maintaining our national security space in the future.The main work of this paper includes two parts:the image sequence and structure from motion algorithm for reconstruction of non cooperative target in space 3D surface and solution camera relative to the target relative pose,according to the results of analysis and calculation precision.Through this study,the camera relative position and attitude of target is gotten,the target spin angular velocity accuracy decreases are calculated with increasing angular velocity,spin angular velocity at 1.83°/s accuracy of 0.06°,the 3D reconstruction of target edge integrity reached 80.44%is gotten through statistical calculation,the accuracy of reconstruction at 1.5cm,the industry to achieve high precision leveling.Through the statistical analysis,it is proved that the algorithm is robust to 3D reconstruction and pose accuracy calculation of the slow rotation target.

关 键 词：三维重建 自旋 SFM SIFT 边缘完整度 PMVS 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]