Resumen
Aiming at the relative pose estimation of non-cooperative targets in space traffic management tasks, a two-step pose estimation method, based on spatially intersecting straight lines, is proposed, which mainly includes three aspects: (1) Use binocular vision to reconstruct the straight space line, and based on the direction vector of the straight line and the intersection of the straight line, solve the pose of the measured target in the measurement coordinate system, and obtain the initial value of the pose estimation. (2) Analyze the uncertainty of the spatial straight-line imaging, construct the uncertainty description matrix of the line, and filter the line features, accordingly. (3) Analyze the problems existing in the current linear distance measurement, construct the spatial linear back-projection error in the parametric coordinate space, and use the linear imaging uncertainty to weigh the projection error term to establish the optimization objective function of the pose estimation. Finally, the nonlinear optimization algorithm is used to iteratively solve the above optimization problem, to obtain high-precision pose estimation results. The experimental results show that the two-step pose estimation algorithm, proposed in this paper, can effectively achieve a high-precision and robust pose estimation for non-cooperative spatial targets. When the measurement distance is 10 m, the position accuracy can reach 10 mm, and the attitude measurement accuracy can reach 1°, which meets the pose estimation accuracy requirements of space traffic management.