关键词: 近景摄影测量, 视觉导航, 计算机视觉, 位姿测量, 交会对接

Abstract:

Camera location and pose estimation from the 3D object and its 2D image are important problems in computer vision. The orthogonal iteration(OI) algorithm is analyzed, the rotational matrix solution is refined. Experiment results show that, using the improved algorithm, the relative errors of distance from camera to object are less than ±0.41%, in the range of 0.45～5.20 m, and the rotation angle errors are less than ±1.8° in a distance of 3 m.

Key words: closerange , photogrammetry,  , vision , navigation,  , computer , vision,  , pose , estimationr,  , rendezvous , and , docking