基于测地线距离的空间非合作目标点云配准

doi:10.7527/S1000-6893.2021.26336

Abstract

Abstract:

To realize identification of the dynamic characteristics of the space targets with local structural similarity and tumbling occlusion， a novel point cloud registration method is proposed for the space non-cooperative target by using the density index and global geodesic distance. First， the spherical projection method is introduced to map the irregular point cloud of the space target to the regular spherical manifold. Then， a density evaluation index based on the dispersion degree of point cloud is designed to divide the spherical point cloud into local subsets. On this basis， a global geodesic distance matrix is constructed to enhance the perception of the information of the local shape of the point cloud. Finally， according to the global geodesic distance matrix， a registration matrix between the scene point cloud and the model point cloud is established to realize the dynamic characteristic identification of the space non-cooperative target. Simulation and experimental results show that with similar target local structures and missing point clouds， the proposed algorithm has better registration accuracy compared to Iterative Closet Point（ICP） algorithms and improved ICP algorithms based on convex hull coarse registration.

Key words: non-cooperative target, point cloud registration, spherical projection, geodesic distance, density index

CLC Number:

V219

Bin CHEN, Houyin XI, Xiaodong ZHANG, Min LUO, Zhidong GUO. Point cloud registration of space non-cooperative targets based on geodesic distance[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(1): 326336-326336.

Figures/Tables 13

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Table 1

Experimental parameter setting

参数	试验数值
目标星 $x$ 轴的旋转速度/ $((∘) ⋅ s - 1)$	3
目标星 $y$ 轴的旋转速度/ $((∘) ⋅ s - 1)$	4
目标星 $z$ 轴的旋转速度/ $((∘) ⋅ s - 1)$	3
相机的帧率/（frame $⋅ s - 1$ ）	30
采样时间/s	0.5
相机的颜色分辨率/（pixel $⋅ i n - 1$ ）	1 280×720
相机的深度分辨率/（pixel $⋅ i n - 1$ ）	640×480

Table 1

Fig. 11

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References 25

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Point cloud registration of space non-cooperative targets based on geodesic distance

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