Pose Estimation Of Non-Cooperative Target Based On DM6446

As the development of information technology,computer vision has been widely applied to numerous areas. In accordance with the objectives,computer vision can be divided into cooperative objectives vision measurement and Non-cooperative objectives vision measurement. In recent years, non-cooperative visual measurement become one of the most popular research topics in this field. This thesis takes the background of 863:"Docking and separation technology of ***".This study focused on two main aspects:one is to give two practical algorithm of solving non-cooperative targets pose, after deduction and simulation experiment,the two algorithm is feasible, and efficiency than algorithm in other documents ;the other hand, in the designed experimental platform, achieved a pose decoding algorithm .For the measurement of monocular and non-cooperative target pose,this paper gives two algorithms.one is to improved monocular vision similar iteration algorithm, In the final pose computation, made improvements. Previous solved the problem using singular value decomposition method,this paper constructs a new coordinate to decode pose, this approach is simple, programming will also a whole lot easier. This algorithm converts the relationship between 2D-3D to the relationship between 3D-3D,then gain the pose data by solving the depth of field and the absolute position value.Another one is to monocular vision pose decoding based on linear characteristics,this algorithm also makes the corresponding improvement on the basis of previous studies, and the initial value is given by calculating analytical solutions, , the final pose computation is verified by Newton iteration method .after the simulation experiments,the algorithm is correct,and the result is correct in allowed error.Designing a set of hardware experimental platform, used to verify the efficiency and rationality of the algorithm. In view of the actual application requirements, firstly, making the feasibility analysis in hardware choice,and considering the software upgrades,leaving some leeway when choose the hardware.The whole hardware systems include objective, CCD camera, processor DM6446, LCD screen, PC. For the conveni- ence of detection, the target is a cuboid; the amount of image processing data is larher, so needing a high-performance processor. finally choosing DM6446, the chip performa- nce is high,and it is dedicated to make image processing.Realizing the algorithm in experimental platform. Doing experiments in image filtering,edge detecting,Hough transform, pose computation; from repeated experiments, knowing that Image pre-processing is very important,this part will impact on the result directly.considering the time of program consumes, try to optimize program, make the time as short as possible.The results show that Non-cooperative objectives pose measurement have achieved expected result,and met the requirement of actual application.