空间机械臂位姿测量中合作靶标的识别及定位Recognition and location of cooperative target marker in pose measurement of space manipulator
何龙,李东,王艳林,谭启蒙
摘要(Abstract)：
空间机械臂需要在空间站外表面进行移动来实现表面巡检或抵达目标位置执行空间任务,需要通过对合作靶标的测量来获取空间机械臂与合作靶标间的位姿信息,因此设计出一种合理可靠的合作靶标尤为关键。提出一种合作靶标,针对该合作靶标提出一种识别及特征点定位算法,利用相机和合作靶标对算法进行验证。实验结果表明,该算法可在0.5~3.0 m的距离内准确识别出合作靶标,特征点的坐标定位精度可达到0.005 2 mm,算法快速、稳定,抗干扰能力强。
关键词(KeyWords)： 空间机械臂;单目视觉;合作靶标;目标识别;位姿信息;坐标定位
基金项目(Foundation): 教育部现代测控技术重点实验室2016年开放项目:基于合作目标的三维位姿视觉测量技术研究资助~~
作者(Author): 何龙,李东,王艳林,谭启蒙
DOI: 10.16652/j.issn.1004-373x.2018.13.024
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