Research On Visual Recognition Technology Of Pose And Motion Parameters Of Tumbling And Noncooperative Target In Space

With the increase of the number of uncontrolled space debris and dead satellites,on-orbit servicing,which aiming at active debris removal and repairing,is wide concerned.As the key technology of on-orbit servicing,the measurement of relative pose and motion parameters technology is necessary to study.In this thesis,the measurement of relative and motion parameters technology was studied,which based on binocular vision.First of all,the related theory of binocular vision measurement was studied,and the imaging model of the camera was established.Based on the modeling,the binocular vision measurement model was produced,then the stereo rectification algorithm was studied.Secondly,the key technologies of image processing in binocular vision measurement,Feature extraction algorithm and Stereo matching algorithm,were studied.According to the study of the traditional Harris corner detection algorithm in depth,a novel approach to detect corner was proposed,which can improve the detection accuracy and the problem of threshold.Firstly,The line feature detected by Hough transformation was utilized to calculate the suspected areas of corners and divide the image with these areas,then the improved Harris algorithm was used to detect the corners in the segmented image,and the upper and lower limit thresholds were effective instead of the traditional single threshold.This approach can not only improve the detection accuracy,but also reduce the sensitivity of the algorithm to light.In order to improve the correctness of stereo matching,this thesis combined the straight line feature with SAD to improve the stereo matching algorithm.Afterwards,the pose estimation model was established.Based on the established pose estimation model,the motion parameters solving model was deduced.Finally,a verification experiment system was designed,including the manufacture of non-cooperative target model,design and production of the motion platform and binocular vision measurement system.The experiment was completed,the effect of pose estimation model and the motion parameter solving model were verified.The experimental results indicated that the binocular vision measurement system had high accuracy and good reliability.