Non-cooperative target pose estimation based on improved iterative closest point algorithm

• 作者: ZHU Zijian XIANG Wenhao HUO Ju YANG Ming ZHANG Guiyang WEI Liang
• 来源期刊: 系统工程与电子技术（英文版）
• 年，卷（期）: 2022,（1）
• 所属期刊栏目: ELECTRONICS TECHNOLOGY
• 页码范围: 1-10
• 页数: 10页
• 语种: 英文
• DOI: 10.23919/JSEE.2022.000001

摘要

For localisation of unknown non-cooperative targets in space,the existence of interference points causes inaccuracy of pose estimation while utilizing point cloud registration.To ad-dress this issue,this paper proposes a new iterative closest point(ICP)algorithm combined with distributed weights to in-tensify the dependability and robustness of the non-cooperative target localisation.As interference points in space have not yet been extensively studied,we classify them into two broad ca-tegories,far interference points and near interference points.For the former,the statistical outlier elimination algorithm is em-ployed.For the latter,the Gaussian distributed weights,simul-taneously valuing with the variation of the Euclidean distance from each point to the centroid,are commingled to the tradition-al ICP algorithm.In each iteration,the weight matrix W in con-nection with the overall localisation is obtained,and the singular value decomposition is adopted to accomplish high-precision estimation of the target pose.Finally,the experiments are imple-mented by shooting the satellite model and setting the position of interference points.The outcomes suggest that the proposed algorithm can effectively suppress interference points and en-hance the accuracy of non-cooperative target pose estimation.When the interference point number reaches about 700,the av-erage error of angle is superior to 0.88°.