CN109405835A - Relative pose measurement method based on noncooperative target straight line and circle monocular image - Google Patents
Relative pose measurement method based on noncooperative target straight line and circle monocular image Download PDFInfo
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Abstract
The relative pose measurement method based on noncooperative target straight line and circle monocular image that the invention discloses a kind of, comprising: the inner parameter matrix K of A, calibration measurement camera, are the projection matrix of world coordinate system for M to measure camera coordinates system；B, the correspondence image of selected circle and straight line in non-collaborative space aircraft target is detected in the picture, and round image is elliptic curve, and quadratic form is expressed asC q , the image of straight line is still straight line, and homogeneous coordinates are expressed as ī；C, according to round projection, the round position comprising empty solution and normal direction are obtained；D, according to linear projection, the empty angle of rotation solved and determine circle is excluded.The method of the present invention utilizes the pose of the circular contour of structure member and linear edge profile the image recovery target on calibration for cameras on noncooperative target aircraft, reduce the difficulty of feature needed for identification is screened from image, the reliability and robustness of method are improved, provides the accurate posture information of target for the operation to noncooperative target.
Description
Technical field
The present invention relates to space non-cooperative target Relative Navigation technologies, more particularly to one kind to be based on noncooperative target straight line
With the relative pose measurement method of circle monocular image.
Background technique
According to whether cooperation mark can be installed in target to provide effectively cooperation information, Spatial powers combining or sky
Between the target of in-orbit service can be divided into cooperative target and noncooperative target.The space based on cooperative target is handed in the world at present
The research that can dock and capture manipulation technology reaches its maturity.The advanced video guidance sensor system of U.S. NASA exploitation
(Advance Video Guidance System, AVGS) is at present in the space low coverage based on cooperation mark the most advanced
Monocular pose measurement system, is verified in space tasks.China has also passed through Shenzhou 8 and tiangong-1 carries out
Space-orbit demonstration and verification.Space intersection and manipulation technology for noncooperative target are current international research hotspots,
The developed countries such as USA and Europe or are carrying out space non-cooperative target intersection and are manipulating demonstration and verification.
Currently, domestic space platform identifies the capture of space non-cooperative target and matches measurement and formation flight control
Technology, wherein the navigation of remote segment and control method have been broken through under the traction of Project R&D.Last short range and super close
Visual pattern airmanship needed for the journey stage captures manipulation technology to space non-cooperative target is that development Intellectualized space is motor-driven
Platform is badly in need of the core technology grasped, wherein the space non-cooperative target pose measurement technology based on target signature is a Xiang Chong
Want key technology.
In the vision pose measurement of space tasks, since aerial image condition is poor, and pursuit spacecraft and target space flight
The distance between device variation it is also big, thus passive space vehicle formed brightness of image on pursuit spacecraft CCD sensor it is low,
Poor contrast, noise are big, dimensional variation is big, image detail changes greatly, thus fast robust stable detection target is special on the image
Sign is to realize the biggest problem of pose measurement.And complicated image midpoint, straight line screening it is corresponding can be rated as in computer vision through
Allusion quotation problem.Choosing readily identified stable characteristics of image and carrying out pose measurement is space non-cooperative target pose measurement technology
Important foundation.
Summary of the invention
In view of this, the main purpose of the present invention is to provide one kind based on noncooperative target straight line and circle monocular image
Relative pose measurement method, with improve space non-cooperative target relative pose measurement robustness, reliability, drop simultaneously
The difficulty of required feature is screened in the low identification from image.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of relative pose measurement method based on noncooperative target straight line and circle monocular image, includes the following steps:
A, the inner parameter matrix K of calibration measurement camera, to measure projection matrix of the camera coordinates system as world coordinate system
For M；
B, the correspondence image of selected circle and straight line in target is detected in the picture, round image is elliptic curve, secondly
Secondary type is expressed as Cq, the image of straight line is still straight line, and homogeneous coordinates are expressed asThe half of known circle
Diameter is R；
C, according to round projection, two group positions and normal direction of the circle in camera coordinates system are obtained, wherein one group is empty solution；
D, according to linear projection, the empty angle of rotation solved and determine circle is excluded.
Wherein, the step C is specifically included:
It C1, is that vertex and elliptic curve determine that the space ellipse conical surface, quadratic form are expressed as Q by image centerΓ, QΓ=
KTCqK is real symmetric matrix；
C2, the standard ellipse cone that the General Elliptic conical surface is converted to total vertex, i.e., by real symmetric matrix QΓWith orthogonal matrix P
Diagonalization, i.e. P meet PTQΓP=P-1QΓP=diag { λ1,λ2,λ3}；
C3, the property bored according to standard ellipse are to QΓThe eigenvalue λ of matrix1,λ2,λ3It reorders with feature vector,
So that λ1,λ2With symbol and | | λ1||≥||λ2| |, and obtain corresponding orthogonal matrix P；
C4, the normal vector that the elliptic cone under coordinate system solves center location and cutting planes is bored using standard ellipse, point
There are not two groups of solutions:
Xie Yi are as follows:
Solution two are as follows:
C5, center location and normal orientation are transformed under camera coordinates system, obtain camera coordinates system { C } down space circle
Center locationAnd its normal orientation of supporting planeInformation:
Comprising two groups of circles position and normal orientations under camera coordinates system in above formula, wherein one group solves to be real, another group
For falseness solution.
Wherein, the step D is specifically included:
D1, by camera projection matrix M and graph line Calculation Plane π1Homogeneous coordinates bePlane π1Normal orientation be
D2, holdingWithBeing directed toward unanimously i.e. angle is acute angle, andWithIt is sharp for being directed toward unanimously i.e. angle
Angle then obtains two groups of pose solutions of object coordinates system are as follows:
D3, for any one group of pose solution, can be obtained its object coordinates system { B } arrive camera coordinates system { C } transformation square
Battle array{B}T{C}:
D4, appoint take a point P on the linel, by its coordinate transform in object coordinates system { B } to camera coordinates system { C }
In coordinate be P{C}, then it is projected into the plane of delineation, whether empty solution is excluded on graph line according to its projection；
Wherein:For space vectorThe vector direction in camera coordinates system；
For space vectorThe vector direction in camera coordinates system；
For space vectorThe vector direction in camera coordinates system；
For space vector
For space vector
For space vector
For plane π1Space normal direction direction vector；
For the direction vector of space line L；
For OBThree coordinate components under camera coordinates system；
ForThree coordinate components of vector in camera coordinates system；Sky has been determined by formula (1)
Between target two groups of poses under camera coordinates system, wherein position is by OBIt determines, posture is by three vectorsReally
It is fixed.
Wherein, there is visible round and straight line, and round and straight line is in noncooperative target itself in the noncooperative target
Refer to known to size and coordinate information in reference frame and be fitted without cooperation mark, it is known however that threedimensional model number
It is believed that the aircraft of breath.
The noncooperative target, which refers to, is fitted without cooperation mark, it is known however that the boat of three-dimensional modeling data information
Its aircraft, or the touch-down zone spacecraft object construction parameter of helicopter drop zone has been indicated using circular pattern
Know, and has circular configuration in target and the linear edge parallel with circular configuration.
Selected circle is visible on the image with linear edge on the noncooperative target spacecraft and can be detected
Identification is accurate on the image to be proposed.
Circular contour selected by structure member is specially aerospace craft satellite-rocket docking on the noncooperative target aircraft
The circular loop pattern of mark helicopter drop zone on ring or rocket propulsion spout or touch-down zone.
Linear edge profile selected by structure member on the noncooperative target aircraft is aerospace craft solar wing
Indicate helicopter landing direction on edge, satellite body edge or Antenna mast or other visible line edges or touch-down zone
Arrow pattern, H-pattern or cross pattern.
The camera is monocular camera.The monocular camera is national forest park in Xiaokeng camera, and inner parameter can pass through
Calibration obtains.
The method of relative pose measurement provided by the present invention based on noncooperative target straight line and circle monocular image, tool
It has the advantage that
It will the present invention is based on the apparent circular contours of noncooperative target Flight Vehicle Structure and linear edge in calibration for cameras
On foundation of the correspondence image as pose measurement.(1) round and straight line is set feature, is stablized than point feature；(2) it only needs
One circle resolving pose corresponding with the image of a parallel lines is smaller than screening feature difficulty in same nature feature；
(3) whole positions and the posture of noncooperative target aircraft can be determined.
Detailed description of the invention
Fig. 1 is the space pass the present invention is based on the relative pose measurement method of noncooperative target straight line and circle monocular image
It is schematic diagram；
Fig. 2 is that the present invention is based on satellites described in the relative pose measurement method of noncooperative target straight line and circle monocular image
Model schematic.
[primary symbols explanation]
1)Oc-XcYcZc--- camera coordinates system { C }；
2)OB-XBYBZB--- object coordinates system { B }, using the center of circle as origin, circle supporting plane π2Normal vector is ZBAxis, ZB
Axis is directed toward and camera coordinates system ZCBeing directed toward angle is acute angle；
3) o-xy --- it is plane of delineation physical coordinates system；
4) o-uv --- it is image plane pixel coordinate system；
5) L --- extraterrestrial target top edge straight line, with circle supporting plane π2In parallel；
6)π2--- plane where circle on extraterrestrial target；
7)π1--- straight line L and camera optical center OCDetermining plane；
8) l --- space line L imaging straight line on the image plane；
9) Q --- selected circle space π in object coordinates system { B } on extraterrestrial target2The equation of circle, radius are in plane
R；
10) q --- elliptic curve is the projected image of selected circle on the image plane on extraterrestrial target；
11) Γ --- with image center OCFor vertex, the elliptic cone determined with elliptic curve q.
Specific embodiment
Fig. 1 is the space pass the present invention is based on the relative pose measurement method of noncooperative target straight line and circle monocular image
It is schematic diagram；Fig. 2 is that the present invention is based on satellites described in the relative pose measurement method of noncooperative target straight line and circle monocular image
Model schematic.
Referring to FIG. 1, dummy satellite schematic diagram as shown in connection with fig. 2, the present invention is based on noncooperative target straight line and circle are single
The relative pose measurement method of mesh image, by following embodiment to circular contour selected by structure member in noncooperative target
Detection and parameter extraction are carried out with the image of linear edge profile, it is opposite to obtain noncooperative target for combining camera Intrinsic Matrix
The pose of camera.
Wherein, there is visible round and straight line, and round and straight line is referred in noncooperative target itself in noncooperative target
Known to size and coordinate information in coordinate system.The noncooperative target, i.e. noncooperative target aircraft, can be and not pacify
Dress cooperation mark, it is known however that the aerospace craft of three-dimensional modeling data information, or gone straight up to using circular pattern mark
The touch-down zone of machine drop zone.
For example, based on a circle and straight line edge selected on spacecraft and its on calibration for cameras
Image restores the spatial pose of target.Spacecraft object construction parameter it is known that and have in target circular configuration and with circle
The linear edge of shape parallelism structural.Selected circle is visible on the image with linear edge in noncooperative target and can be detected
Identification.
By the image singly justified and its on calibration for cameras, two groups that circle meets projection relation under camera coordinates are recovered
Position and normal orientation.By round position and normal orientation, in conjunction with the space line direction of recovery, it may be determined that spacecraft
Certain point on space line is transformed into camera coordinates system, and project to the transition matrix of camera coordinates system by target-based coordinate system
In camera plane, whether it is to exclude false solution on straight line image according to its image, obtains the true posture information of target.
Circular contour selected by structure member in the noncooperative target, can be aerospace craft satellite-rocket docking ring or
The circular loop pattern of mark helicopter drop zone on person's rocket propulsion spout or touch-down zone.In the noncooperative target
Linear edge profile selected by structure member can be aerospace craft solar wing edge, satellite body edge, Antenna mast
Or indicate arrow pattern, H-pattern or the cross pattern in helicopter landing direction on other visible line edges or touch-down zone,
But linear edge is parallel with the plane where circular contour.The camera is monocular camera, such as traditional national forest park in Xiaokeng phase
Machine etc., inner parameter can be obtained by calibration.
Below by specific embodiment to the present invention is based on the relative pose surveys of noncooperative target straight line and circle monocular image
The process of amount method is described in detail.It is specific as follows:
Step 11: the inner parameter matrix K of calibration measurement camera, to measure throwing of the camera coordinates system as world coordinate system
Shadow matrix is M.
The calibration for cameras, be the camera for measuring pose is demarcated using existing camera calibration method, thus
Obtain the inner parameter matrix K of camera.
Step 12: Image Feature Detection, including elliptic curve detection and straight-line detection.Specifically: it detects in the picture
The correspondence image of selected circle and straight line in non-collaborative space aircraft target, round image are elliptic curves, and quadratic form indicates
For Cq, the image of straight line is still straight line, and homogeneous coordinates are expressed asThe radius of known circle is R.
In dummy satellite image as shown in Fig. 2, oval q and straight line l are detected.
The curvilinear equation of elliptic curve q are as follows:
au2+bv2+ cuv+du+ev+f=0 (1)
Wherein: (a, b, c, d, e, f) is the matched curve parameter of elliptic curve, is rewritten as matrix form:
Wherein: CqFor the algebra quadratic form of elliptic curve:
The equation of straight line l are as follows:
lau+lbv+lc=0
Wherein:It is indicated for the homogeneous coordinates of straight line l.
Step 13: according to round projection, obtaining the round position (x' comprising empty solutionom,y'om,z'om) and normal direction (n'mx,
n'my,n'mz)；Wherein: (m=1 or 2).
The step 13 further comprises:
Step 131: being that vertex and elliptic curve determine that the space ellipse conical surface, quadratic form are expressed as by image center
QΓ, QΓ=KTCΓK is real symmetric matrix.
Step 132: the General Elliptic conical surface being converted into standard ellipse cone, i.e., by real symmetric matrix QΓIt is diagonal with orthogonal matrix P
Change, i.e., P meets PTQΓP=P-1QΓP=diag { λ1,λ2,λ3}。
Step 133: according to the property of standard ellipse cone to QΓThe eigenvalue λ of matrix1,λ2,λ3Weight is carried out with feature vector
Sequence, so that λ1,λ2With symbol and | | λ1||≥||λ2| |, and obtain corresponding orthogonal matrix P.
Step 134: the normal vector of center location and cutting planes is solved using the elliptic cone under conventional coordinates, point
There are not two groups of solutions:
Xie Yi are as follows:
Solution two are as follows:
The calculating process that the pose resolves is as follows.The quadratic form of elliptic curve q indicates are as follows:
[u v 1]Cq[u v 1]T=0 (2)
Wherein:
Spatial point P{C}=[x y z]TWith picture point p=on image [u v]TCorresponding relationship are as follows:
Wherein: K is camera Intrinsic Matrix.
The quadratic form that above-mentioned formula (4) substitution formula (2) obtains elliptic cone Γ under camera coordinates system is indicated:
[x y z]KTCqK[x y z]T=0 (5)
Enable QΓ=KTCqK (6)
Since elliptic cone Γ gives instructions in reply in camera coordinates system following table miscellaneous, it is not easy to calculate, therefore will be ellipse under camera coordinates system
Circular conical surface goes to conventional coordinates and is calculated, and result is transformed into camera coordinates system again after obtaining a result.Enable (x', y', z')
For the coordinate representation under conventional coordinates.Since camera coordinates system is identical with conventional coordinates origin, thus two coordinate systems it
Between be converted to pure rotation transformation.Matrix QΓFor real symmetric matrix, real symmetric matrix must exist orthogonal matrix P can by its diagonalization,
I.e.
PTQΓP=P-1QΓP=diag { λ1,λ2,λ3} (7)
Enable P [x'y'z']T=[x y z]T (8)
Above formula (8) are substituted into formula (5) to obtain:
[x' y' z']PTQΓP[x' y' z']T=0 (9)
After transformed, the equation of elliptic cone are as follows:
λ1x'2+λ2y'2+λ3z'2=0 (10)
Since above formula indicates an elliptic cone, according to the expression formula of standard cones it is found that λ1,λ2,λ3In must have 2 value symbols
It is identical, and with another contrary sign.When space circle is imaged as bowlder, which becomes circular cone, then the 2 of jack per line value is equal.
Also to need convenient for subsequent calculating to λ1,λ2,λ3And P=[e1 e2 e3] matrix handled.Assuming that QΓMatrix
Characteristic value and normalization vector are respectively (μ1,μ2,μ3) and (f1,f2,f3).If:
①μ1,μ2Jack per line, and:
②||μ1||≥||μ2| |,
Then λ3=μ3, λ2=μ2, λ1=μ1。
If (μ1,μ2,μ3) adjustment sequence is needed just to meet condition 1. 2., then (f1,f2,f3) also need to be exchanged accordingly；
If e3[0 0 1]T> 0, then e3=f3, otherwise e3=-f3；e2=f2, e1=e2×e3。
Then the normal vector that center location and cutting planes are solved using the elliptic cone under conventional coordinates, is had respectively
Two groups of solutions:
Xie Yi are as follows:
Solution two are as follows:
Wherein: R is the radius of space circle Q.
Step 135: center location and normal orientation being transformed under camera coordinates system, obtained empty under camera coordinates system { C }
Between circle center locationAnd its normal orientation of supporting planeInformation.
Formula (11) to the pose result that formula (14) indicates is transformed under camera coordinates system, is obtained under camera coordinates system { C }
The center location of space circleAnd its normal orientation of supporting planeInformation:
Comprising two groups of circles position and normal orientations under camera coordinates system in above formula (15), wherein one group is really solution, separately
One group is false solution.
Citing: coordinate P of any point P in camera reference frame { C } on space circle Q{C}=[x y z]TWith figure
As upper picture point p=[u v]TPresence project corresponding relationship:
The quadratic form equation for being substituted into elliptic curve, obtains:
[x y z]KTCqK[x y z]T=0
Enable QΓ=KTCΓK
Wherein: matrix QΓFor real symmetric matrix, to QΓMake Eigenvalues Decomposition, obtains QΓCharacteristic value and standardization feature
Vector is respectively (μ1,μ2,μ3) and (f1,f2,f3)。
To [μi,fi] (i=1,2,3) reorders, so that sequence meets μ1·μ2> 0 and | μ1|≥|μ2|.If new row
Sequence is [μi',fi'] (i=1,2,3).
Enable orthogonal matrix P=[e1 e2 e3]。
If f3'[0 0 1]T> 0, then e3=f3, otherwise e3=-f3。
Enable e2=f2, e1=e2×e3。
The then center location of camera coordinates system { C } down space circleAnd its normal orientation of supporting planeInformation
Are as follows:
Wherein: comprising two groups of circles position and normal orientations under camera coordinates system, wherein one group solves to be real, another group
For falseness solution.
Note: the center location of camera coordinates system { C } down space circleAnd its normal orientation of supporting planeIt wants
WithAngle is less than acute angle, that is, remains pointing to consistentOtherwise it enablesIt negates.
Step 14: according to linear projection, excluding empty the step of solving and determining round angle of rotation.
As shown in Fig. 1, the supporting plane π of space line L and space circle2In parallel, L'=π1∩π2It is plane π1Peace
Face π2Intersecting lens, it is clear that L | | L', i.e. straight line L are parallel to L'.
Step 141: determining plane π1Normal orientation.
Camera Intrinsic Matrix is K, enables world coordinate system { W } be overlapped with camera coordinates system { C }, then the projection square of camera
Battle array M are as follows:
Plane π1Homogeneous coordinates are as follows:
Thus plane π1Normal orientation are as follows:
Note: keeping plane π1Normal orientationWithAngle is less than acute angle, that is, remains pointing to consistent (π1x>
0) it, otherwise enablesIt negates.
Step 142: verifying round pose and exclude false solution.
By attached drawing 1 it is found thatAndTherefore must haveBecauseWithIt is directed toward one
It causes, andWithIt is directed toward unanimously, thereforeThenConvolution (15) obtains the complete of extraterrestrial target
Pose solution are as follows:
Wherein:
Refer to space vectorThe vector direction in camera coordinates system；
Refer to space vectorThe vector direction in camera coordinates system；
Refer to space vectorThe vector direction in camera coordinates system；
Refer to space vector
Refer to space vector
Refer to space vector
Refer to plane π1Space normal direction direction vector；
Refer to the direction vector of space line L；
Refer to OBThree coordinate components under camera coordinates system；
Refer toThree coordinate components of vector in camera coordinates system.
Formula (19) has determined extraterrestrial target two groups of poses under camera coordinates system, and wherein position is by OBIt determines, posture is by three
A vectorIt determines.
Step 143: for any one group of pose solution, the change that its object coordinates system { B } arrives camera coordinates system { C } can be obtained
Change matrix{B}T{C}:
Wherein:
Step 144: appointing take a point P on the linel, the coordinate in object coordinates system { B } is P{B}, sat in video camera
Coordinate in mark system { C } is P{C}.According to coordinate system transformational relation, have:
Then P projects p on the image are as follows:
Because of P ∈ L, according to the invariance of projective transformation, necessarily there is p ∈ l, it may be assumed that
The p that will be determined by above formula (22)i(i=1,2) substitutes into formula (23) respectively, then enabling formula (23) to set up is correct solution,
Invalid is then false solution.
The false solution for not only eliminating round pose as a result, further defines round complete pose.
In the present invention, the specific implementation of the above-mentioned the step of empty angle of rotation solved and determine circle is excluded according to linear projection
Process is as follows:
Assuming that the position of first group of circle and normal orientation are correct pose, it may be assumed that
It enablesThenIt willMake vector normalized, i.e.,
It enables:
Obtain the transformation matrix that object coordinates system { B } arrives camera coordinates system { C }{B}T{C}:
Wherein:
Appoint on the linel and take a point P, the coordinate in object coordinates system { B } is P{B}, convert it to camera coordinates
It is to be obtained in { C }:
Then P projects the image homogeneous coordinates of p on the image are as follows:
Judge whether p falls on straight line l.
IfThen first group of solution is correct solution；Otherwise, second group of solution is correct solution.If second group of solution is
Correct solution, then recalculateAnd make vector normalized.
The present invention is using the circular contour of structure member on noncooperative target aircraft with linear edge profile in calibration phase
Image restores the pose of target on machine, and ambiguity and the angle of rotation for eliminating single circular projection's positioning are uncertain, reduces from figure
The difficulty of feature needed for identification is screened as in, improves the reliability and robustness of method.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the scope of the present invention.
Claims (10)
1. the relative pose measurement method based on noncooperative target straight line and circle monocular image, which is characterized in that including walking as follows
It is rapid:
A, the inner parameter matrix K of calibration measurement camera, is the projection matrix of world coordinate system for M to measure camera coordinates system；
B, the correspondence image of selected circle and straight line in target is detected in the picture, and round image is elliptic curve, quadratic form
It is expressed as Cq, the image of straight line is still straight line, and homogeneous coordinates are expressed asThe radius of known circle is R；
C, according to round projection, two group positions and normal direction of the circle in camera coordinates system are obtained, wherein one group is empty solution；
D, according to linear projection, the empty angle of rotation solved and determine circle is excluded.
2. the relative pose measurement method according to claim 1 based on noncooperative target straight line and circle monocular image,
It is characterized in that, the step C is specifically included:
It C1, is that vertex and elliptic curve determine that the space ellipse conical surface, quadratic form are expressed as Q by image centerΓ, QΓ=KTCqK,
For real symmetric matrix；
C2, the standard ellipse cone that the General Elliptic conical surface is converted to total vertex, i.e., by real symmetric matrix QΓIt is diagonal with orthogonal matrix P
Change, i.e., P meets PTQΓP=P-1QΓP=diag { λ1,λ2,λ3}；
C3, the property bored according to standard ellipse are to QΓThe eigenvalue λ of matrix1,λ2,λ3It reorders with feature vector, so that λ1,
λ2With symbol and | | λ1||≥||λ2| |, and obtain corresponding orthogonal matrix P；
C4, the normal vector that the elliptic cone under coordinate system solves center location and cutting planes is bored using standard ellipse, had respectively
Two groups of solutions:
Xie Yi are as follows:
Solution two are as follows:
C5, center location and normal orientation are transformed under camera coordinates system, obtain the center of circle of camera coordinates system { C } down space circle
PositionAnd its normal orientation of supporting planeInformation:
Comprising two groups of circles position and normal orientations under camera coordinates system in above formula, wherein one group is really solution, another group is void
Vacation solution.
3. the relative pose measurement method according to claim 1 based on noncooperative target straight line and circle monocular image,
It is characterized in that, the step D is specifically included:
D1, by camera projection matrix M and graph line Calculation Plane π1Homogeneous coordinates bePlane π1Normal orientation be
D2, holdingWithBeing directed toward unanimously i.e. angle is acute angle, andWithBeing directed toward unanimously i.e. angle is acute angle, then
To two groups of pose solutions of object coordinates system are as follows:
D3, for any one group of pose solution, can be obtained its object coordinates system { B } arrive camera coordinates system { C } transformation matrix{B}T{C}:
D4, appoint take a point P on the linel, by it in the coordinate transform in object coordinates system { B } in camera coordinates system { C }
Coordinate is P{C}, then it is projected into the plane of delineation, whether empty solution is excluded on graph line according to its projection；
Wherein:For space vectorThe vector direction in camera coordinates system；
For space vectorThe vector direction in camera coordinates system；
For space vectorThe vector direction in camera coordinates system；
For space vector
For space vector
For space vector
For plane π1Space normal direction direction vector；
For the direction vector of space line L；
For OBThree coordinate components under camera coordinates system；
ForThree coordinate components of vector in camera coordinates system；Extraterrestrial target is determined by formula (1)
Two groups of poses under camera coordinates system, wherein position is by OBIt determines, posture is by three vectorsIt determines.
4. the relative pose measurement method according to claim 1 based on noncooperative target straight line and circle monocular image,
It is characterized in that there is visible round and straight line, and round and straight line is referred in noncooperative target itself in the noncooperative target
Known to size and coordinate information in coordinate system.
5. the relative pose measurement method according to claim 1 based on noncooperative target straight line and circle monocular image,
It is characterized in that, the noncooperative target is to be fitted without cooperation mark, it is known however that the space flight of three-dimensional modeling data information
Aircraft, or the touch-down zone using circular pattern mark helicopter drop zone.
6. the relative pose measurement method according to claim 5 based on noncooperative target straight line and circle monocular image,
It is characterized in that, selected circle is visible on the image with linear edge in the noncooperative target and can be detected identification.
7. the relative pose measurement method according to claim 1 based on noncooperative target straight line and circle monocular image,
Be characterized in that, in the noncooperative target circular contour selected by structure member be specially aerospace craft satellite-rocket docking ring or
The circular loop pattern of mark helicopter drop zone on rocket propulsion spout or touch-down zone.
8. the relative pose measurement method according to claim 1 based on noncooperative target straight line and circle monocular image,
It is characterized in that, linear edge profile selected by structure member in the noncooperative target, for aerospace craft solar wing edge, defends
Indicate the arrow plot in helicopter landing direction on star body edges, Antenna mast or other visible line edges or touch-down zone
Case, H-pattern or cross pattern.
9. the relative pose measurement method according to claim 1 based on noncooperative target straight line and circle monocular image,
It is characterized in that, the camera is monocular camera.
10. the relative pose measurement method according to claim 9 based on noncooperative target straight line and circle monocular image,
It is characterized in that, the monocular camera is national forest park in Xiaokeng camera, and inner parameter can be obtained by calibration.
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