NDLI: Stereovision-based initial pose estimation relative to non-cooperative space target

Content Provider	IET Digital Library
Author	Zhu, Chengguang Zhao, Jiankang Wang, Hongyu Long, Haihui Xia, Xuan
Abstract	Initial relative parameters are of great importance as inputs of the subsequent filter process based on the stereovision system. The relative dynamic model is approximated to estimate the initial relative state. Firstly, the error distribution property of feature point captured using cameras can be approximately regarded to be zero-mean Gaussian distribution when the measurement error of pixel is assumed to be the same. Furthermore, the cofactor matrix can be derived to describe the error distribution property. Built on what is mentioned above, the weighted total least square is adopted to compute the relative angular velocity. To analyse the estimation precision of the algorithm, the Cramer-Rao low bound is also exploited to calculate the theoretical precision trend with the number of the feature point. The relative position estimation uses the particle swarm optimisation algorithm to seek optimal solution due to the fact that the corresponding coefficient matrix is not full rank. Finally, three groups of simulation experiments are conducted to verify its effectiveness. The experiment results show that this algorithm can be utilised to estimate the initial relative state.
Starting Page	973
Ending Page	980
Page Count	8
ISSN	17518784
Volume Number	14
e-ISSN	17518792
Issue Number	Issue 7, Jul (2020)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-rsn/14/7
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-rsn.2019.0476
Journal	IET Radar, Sonar & Navigation
Publisher Date	2020-01-27
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Computer Vision And Image Processing Technique Error Distribution Property Estimation Precision Feature Point Filtering Method in Signal Processing Filtering Theory Gaussian Distribution Image Recognition Initial Relative Parameter Initial Relative State Interpolation And Function Approximation Least Squares Approximation Matrix Algebra Noncooperative Space Target Numerical Analysis Optical, Image And Video Signal Processing Optimisation Particle Swarm Optimisation Pose Estimation Position Control Relative Angular Velocity Relative Dynamic Model Relative Position Estimation Spatial Variables Control Statistics Stereo Image Processing Stereovision System Stereovision-based Subsequent Filter Process Target Tracking Zero-mean Gaussian Distribution
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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