关键词: 双目视觉, 视觉测量, 空间机器人, 相对导航

Abstract:

In rendezvous and docking, camera optical axis suffers from disturbances due to the influence of complex space environment. A correction method of optical axis disturbance for binocular vision is presented. The light from a reference marker fixed in satellite frame enters the field of view of each camera through the auxiliary light path, providing infinite reference points for each camera. According to image variation of the reference marker, transformation matrix of optical axis disturbance is estimated and then used to compensate camera attitude change.Theoretical derivation shows that as long as the reference marker remains in the field of view of each camera, the proposed method can correct three-axis disturbances of optical axis.Experiments are carried out to validate the proposed method utilizing a ground testing platform. Simulation experimental results show that the proposed method can effectively correct optical axis disturbances and greatly improve three-dimensional measurement accuracy of binocular vision.

Key words: Binocular vision, Vision measurement, Space robot, Relative navigation