Chinese Space Science and Technology ›› 2018, Vol. 38 ›› Issue (1): 77-83.doi: 10.16708/j.cnki.1000-758X.2018.0019

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A rapid three-dimensional measurement method for non-cooperative target#br#

SUN Xiuqing1, ZHANG Duzhou2, WANG Li1,*, WU Fenzhi1   

  1. 1. Beijing Institute of Control Engineering, Beijing 100190, China
    2. China Academy of Space Technology, Beijing 100094, China
  • Received:2016-12-28 Accepted:2018-02-02 Online:2018-02-25 Published:2020-02-12


When the servicing spacecraft is tracking, approaching and capturing target satellites, it is necessary to quickly and precisely obtain 3-D profile of target satellites’ local modules. A monocular camera measurement system based on structured-light was discussed. The system was designed to meet the needs of high speed and high accuracy. A coding method of De Bruijn sequence using white and black was proposed, and the reconstruction could be finished by a single picture. Besides, black and white stripes were still adopted, which has strong ant-interference in space. Compared with the method based on binocular vision, the projector’s physical model was the same as the camera, so the projector was served as a camera model according to this method. Without the matching of detected points in cameras and projectors in binocular stereo vision, the computing time was reduced. Three-dimensional points by iterative approach were reconstructed, with no need for advance distortion correction for pictures to use. Taking the satellite model as the target, reconstruction experiment was carried out using a high-speed camera. The experiment results indicate that the image acquisition time could reduce, and the depth information error is 0.0583 mm in reconstruction by this method. It can be used to measure the three-dimensional structure of non-cooperative spacecraft rapidly.

Key words:

non-cooperative target, structured-light, epipolar-slope constraint, De Bruijn sequence, three-dimensional measurement