基于TOF相机的空间非合作目标位姿测量方法  

Pose Measurement Method of Space Non-Cooperative Targets Based on TOF Camera

作　　者：孙典奇 段慧仙 裴浩东[1,3] 胡亮[1,2,3] Sun Dianqi;Duan Huixian;Pei Haodong;Hu Liang(Key Laboratory of Intelligent Infrared Perception,Chinese Academy of Sciences,Shanghai 200083,China;University of Chinese Academy of Sciences,Beijing 100049,China;Shanghai Institute of Technical Physics,Chinese Academy of Sciences,Shanghai 200083,China)

机构地区：[1]中国科学院红外智能感知重点实验室,上海200083 [2]中国科学院大学,北京100049 [3]中国科学院上海技术物理研究所,上海200083

出　　处：《光学学报》2021年第22期95-104,共10页Acta Optica Sinica

基　　金：装备预先研究基金项目(30504040304);上海市青年科技启明星项目(17QB1401000);中国科学院上海技术物理研究所创新专项(CX-325,CX-217)。

摘　　要：针对空间非合作目标近距离交会对接时较难获取精确位姿的问题,提出一种高效可靠的基于TOF(time-of-flight)相机的空间非合作目标位姿测量方法。利用TOF相机灰度图可存储光强的特点,用回光反射材质圆点标定板,提高了相机标定精度;基于边缘弧段组合的椭圆检测法计算目标表面对接环内外侧椭圆参数;基于局部阈值的区域生长法对深度图像进行连通域分析,通过面积、长宽比等约束提取出目标表面接插件;利用对接环与接插件建立目标坐标系并解算其在相机坐标系下的三轴位置与姿态角。搭建地面验证系统,通过对比本文方法与ORB(Oriented FAST and Rotated BRIEF)方法4组100帧图像的实验结果,验证了该方法的鲁棒性与测量精度的准确性,说明TOF相机在非合作目标位姿测量领域具有广阔的前景。Given that the precise pose of space non-cooperative targets is difficult to obtain during close rendezvous and docking,an efficient and reliable pose measurement method of space non-cooperative targets based on the time-of-flight(TOF)camera is proposed.Firstly,in view of the characteristic that light intensity can be stored in gray-scale images taken by the TOF camera,a dot calibration board made from retro-reflective materials is adopted to improve the calibration accuracy.Secondly,the ellipse detection method based on the combination of edge arcs is applied for calculating the inner and outer ellipse parameters of the target surface butt ring.Thirdly,the connected components of the depth image are analyzed via the region growing method based on local thresholds and the target surface connector is extracted under constraints such as area and aspect ratio.Finally,a target coordinate system is established through the docking ring and the connector and the three-axis position and attitude angle of the system in the camera coordinate system are calculated.Besides,a ground verification system is set up to verify the robustness and measurement accuracy of the proposed method.To this end,the proposed method and the ORB(Oriented FAST and Rotated BRIEF)method are compared using the experimental results of 4 groups of 100 frame images,indicating that the TOF camera has broad prospects in the pose measurement of non-cooperative targets.

关 键 词：测量 TOF相机 非合作目标 相对位姿 椭圆检测 连通域分析 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]