›› 2016, Vol. 36 ›› Issue (5): 48-.doi: 10.16708/j.cnki.1000-758X.2016.0057

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Aerialrelativemeasurementbasedonmonocularreconstructionfornoncooperationtarget

 LI  Yong-Fei, WANG  Shi-Cheng, YANG  Dong-Fang, SUN  Da-Wei   

  1. DepartmentofControlEngineering,RocketForceUniversityofEngineering,Xi′an710025,China
  • Received:2015-12-25 Revised:2016-04-28 Online:2016-10-25 Published:2016-08-22

Abstract: Amonocularvisionbasedrelativepositionandattitudemeasurementalgorithmwaspresented,whichcombinedthereconstructionoftargetswiththemeasurementofrelativepositionsandattitudefornoncooperationtargets.Firstly,aseriesofpointsonthetargetswerereconstructedusingtheimagesobtainedintheearliermeasurementwithafastandgloballyconvergentstructureandmotionestimation.Secondly,therelativepositionandattitudewerecalculatedbyusingaKalmanfilterbasedonrecursivedepthparametrization,inwhichnewpointsobservedfromnewimageswererecoveredandaddedtothe3Dpointsettoimprovetheaccuracyandrobustnessofthemeasurement.Experimentresultshowsthattheattitudemeasurementcanachieveanaccuracyhigherthan1°,andthepositionmeasurementcanachieveanaccuracyhigherthan2cm,whichindicatesthehighprecisionoftheproposedalgorithm.

Key words: targetreconstruction, measurementforrelativepositionandattitude, monocularvision, noncooperationtarget