ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Fast and precise location measurement of joint multiple ellipses based on inverse transformation of perspective projection
Received date: 2022-06-30
Revised date: 2022-08-04
Accepted date: 2022-08-12
Online published: 2022-08-17
Supported by
National Natural Science Foundation of China(61972020);Foundation of Laboratory(6142210200307)
Cooperative target measurement is an important positioning method for many kinds of operation tasks such as spacecraft rendering， docking， capture and maintenance. However， the current positioning method based on cooperative target has some problems， such as complex operation of target extraction and vulnerability to interferences， which result in poor timeliness， stability， and positioning accuracy. To solve the above problems， a location method of circular cooperative target is proposed based on inverse transformation of perspective projection. Firstly， target contour points are projected into the space by inverse projection of the imaging beam to form a plurality of elliptical cones composed of ray clusters. Then， an optimization model of position and posture residuals is constructed based on the relative relationship between multiple circular outlines of the cooperative target and elliptical conical ray clusters. Finally， an accurate pose of the target is obtained by the Levenberg-Marquadt algorithm. The measurement proposed does not need to fit the ellipse according to target contour points， which improves the calculation efficiency and avoids the accuracy error caused by ellipse fitting. The joint adjustment of multiple ray clusters greatly reduces the influence of noise and error points on position and posture accuracy， and improves the robustness and anti-interference of the algorithm. The experimental results show that the proposed algorithm has high accuracy， computing efficiency and robustness at different distances and noise environments， and can provide strong support for rapid， stable and accurate visual measurement of cooperative targets in the scenes of capture and rendezvous and docking of the space manipulator.
Chuankai LIU , Junxiong LEI , Qian LIU , Jun SUN , Jianhua SU , Xiaodong HU , Dongsheng LI . Fast and precise location measurement of joint multiple ellipses based on inverse transformation of perspective projection[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023 , 44(12) : 327731 -327731 . DOI: 10.7527/S1000-6893.2022.27731
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