| 基于视觉信息的航天器位姿估计迭代算法 |
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| 引用本文： | 岳晓奎,武媛媛,吴侃之. 基于视觉信息的航天器位姿估计迭代算法[J]. 西北工业大学学报, 2011, 29(4): 559-563 |
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| 作者姓名： | 岳晓奎 武媛媛 吴侃之 |
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| 作者单位： | 西北工业大学航天学院,陕西西安,710072 |
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| 基金项目： | 国家自然科学基金(10772145); 高等学校博士点专项科研基金(20106102110003)资助 |
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| 摘 要： | 基于视觉信息的空间目标相对位姿估计问题是未来空间操作的关键所在,正交迭代算法是一种具有实时性好且全局收敛特点的单目位姿估计算法.为了有效利用多个摄像机荻取的数据,进一步提高位姿估计算法的综合性能,提出了一种双目正交迭代融合算法,取两个摄像机获取的所有特征点的目标空间共线性误差平方和作为误差函数,推导得到使两个摄像机总的...
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| 关 键 词： | 视觉导航 位姿估计 正交迭代 单位四元数 |
A Novel Binocular OI( Orthogonal Iteration) Fusion Algorithm Better for Estimation of Spacecraft Position and Attitude |
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| Yue Xiaokui,Wu Yuanyuan,Wu Kanzhi. A Novel Binocular OI( Orthogonal Iteration) Fusion Algorithm Better for Estimation of Spacecraft Position and Attitude[J]. Journal of Northwestern Polytechnical University, 2011, 29(4): 559-563 |
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| Authors: | Yue Xiaokui Wu Yuanyuan Wu Kanzhi |
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| Affiliation: | (College of Astronautics,Northwestern Polytechnical University,Xi′an 710072,China) |
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| Abstract: | The introduction of the full paper reviews some papers in the open literature and then proposes a novel OI fusion algorithm,which we believe is better.Sections 1 and 2 explain our better algorithm.Section 1 briefs OI algorithm.The core of section 2 consists of:(1) we use as error function,which is given by eq.(10),the quadratic sum of collinearity errors of all the feature points in target space obtained from two cameras;(2) we deduce the four-step iterative procedure to get the minimum target space colline... |
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| Keywords: | computer vision navigation estimation algorithms orthogonal iteration(OI) unit quaternion position and attitude |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
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