Monocular visual camera measurement can obtain the accurate pose information of 3D objects from a single image, but the pose ambiguity problem will inevitably occur when using the same method to process 2D object images. To solve this problem, this paper proposes a binocular vision method, using two pre-calibrated cameras to shoot the coplanar target from different angles at the same time, and matching the corresponding image points of the coding markers on the coplanar target. After obtaining the 3D coordinates of the coded points, the pose information of the target is calculated by Bundle Adjustment method. The experiment results show that this method can effectively solve the problem of pose ambiguity in monocular vision. Compared with other methods, the pose measurement method proposed is faster and more robust with larger coding capacity , more accurate positioning, and better comprehensive performance.
Star trackers measures the attitude of spacecraft by matching the centroid coordinates extracted from star image with the star database. However, dim stars, fake stars, noise and irregularly shaped star spots interfere with star extraction. In order to solve these problems, a new star centroid extraction algorithm based on adjacent branch decision marker is proposed in this paper. The first step is to use labels to encode the pixel of star points which are processed by double threshold segmentation; the second step is to judge the validity of the labels by using the adjacent branch decision marker and output them. Compared with the traditional connected area segmentation method, the algorithm can solve the influence of irregular shape star points on Star Information segmentation, and two kinds of threshold segmentation method can effectively eliminate the influence of background on star point extraction. The experimental results show that the algorithm has high precision and speed of star centroid extraction, and the resource cost is low. Compared with other methods, this method has stronger anti background interference ability and better robustness.
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