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针对空间非合作卫星近距离的相对位置和姿态测量问题,提出一种立体视觉测量技术.使用激光雷达为双目立体视觉提供先验距离信息和粗略姿态,在双目相机左右图像特征提取时增加视差范围约束,限定左右图中同名特征点提取的范围,可避免杂光条件下局部复杂纹理的干扰,有效降低计算复杂度,提高图像处理的速度.通过地面闭环试验对测量技术进行了验证,实验结果表明方法的有效性和先进性.
In order to solve the problem of relative position and attitude measurement of space non-cooperative satellites in short distance, a stereo vision measurement technology is proposed, which uses lidar to provide a priori distance information and coarse attitude for binocular stereo vision, and increases when the binocular left and right image features are extracted Parallax range constraint, which limits the range of the extraction of the same name feature points in the left and right images, which can avoid the interference of local complex texture under stray light conditions, effectively reduce the computational complexity and improve the speed of image processing. The ground closed loop test verifies the measurement technology, Experimental results show that the method is effective and advanced.