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| 基于单目视觉的空间非合作目标相对运动参数估计 | |
| 引用本文： | 张劲锋,蔡伟,孙承启.基于单目视觉的空间非合作目标相对运动参数估计[J].空间控制技术与应用,2010,36(2):31-35. |
| 作者姓名： | 张劲锋 蔡伟 孙承启 |
| 作者单位： | 1. 北京控制工程研究所,北京,100190 2. 中国空间技术研究院总体部,北京,100094 3. 北京控制工程研究所,北京,100190;空间智能控制技术国家级重点实验室,北京,100190 |
| 摘 要： | 提出了一种估计空间非合作目标相对运动参数的单目视觉方法，该方法将相对运动参数估计问题描述为一个非线性约束优化问题．通过迭代求解特征值问题来确定基本矩阵，将基本矩阵分解可得到相对运动参数的4个可能解，给出了消除旋转矩阵多义解的简单判断准则．数值仿真结果验证了该方法的有效性． |
| 关 键 词： | 单目视觉 非合作目标 相对运动 参数估计 |
Monocular Vision-Based Relative Motion Parameter Estimation for Non-Cooperative Objects in Space |
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| ZHANG Jinfeng,CAI Wei,SUN Chengqi.Monocular Vision-Based Relative Motion Parameter Estimation for Non-Cooperative Objects in Space[J].Aerospace Contrd and Application,2010,36(2):31-35. | |
| Authors: | ZHANG Jinfeng CAI Wei SUN Chengqi |
| Institution: | 1. Beijing Institute of Control Engineering/a>;Beijing 100190/a>;China/a>;2. Department of System Design/a>;China Academy of Space Technology/a>;Beijing 100094/a>;3. National Key Laboratory of Science and Technology on Space Intelligent Control/a>;China |
| Abstract: | This paper presents a monocular vision-based estimation method of relative motion parameters of non-cooperative objects in space, which is described as a nonlinear constrained optimization problem. The fundamental matrix is estimated by iteratively solving an eigenvalue problem, and then four possible solutions of relative motion parameters may be obtained through fundamental matrix decomposition. A simple test criterion is designed to eliminate the ambiguous solutions of rotation matrix. Numerical simulati... |
| Keywords: | monocular vision non-cooperative objects relative motion parameter estimation |
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