Three-line structured light vision system for non-cooperative satellites in proximity operations  

作　　者：Yang LIU Zongwu XIE Hong LIU 

机构地区：[1]State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150000,China

出　　处：《Chinese Journal of Aeronautics》2020年第5期1494-1504,共11页中国航空学报（英文版）

基　　金：financial support provided by the Foundation for Innovative Research Groups of the National Natural Science Foundation of China (Nos. 51521003 and 61690210)

摘　　要：Adapter ring is a commonly used component in non-cooperative satellites,which has high strength and is suitable to be recognized and grasped by the space manipulator.During proximity operations,this circle feature may be occluded by the robot arm or limited field of view.Moreover,the captured images may be underexposed when there is not enough illumination.To address these problems,this paper presents a structured light vision system with three line lasers and a monocular camera.The lasers project lines onto the surface of the satellite,and six break points are formed along both sides of the adapter ring.A closed-form solution for real-time pose estimation is given using these break points.Then,a virtual structured light platform is constructed to simulate synthetic images of the target satellite.Compared with the predefined camera parameters and relative positions,the proposed method is demonstrated to be more effective,especially at a close distance.Besides,a physical space verification system is set up to prove the effectiveness and robustness of our method under different light conditions.Experimental results indicate that it is a practical and effective method for the pose measurement of on-orbit tasks.

关 键 词：Adapter ring Line detection Non-cooperative target Pose measurement Space robot Structured light 

分 类 号：V474[航空宇航科学与技术—飞行器设计]