Research on the algorithm of 3D pose solving based on binocular vision

Due to the complex lighting environment in space, the surface coating material of the spacecraft is uneven and has strong reflection characteristics, resulting in the complex problem of extremely bright or extremely dark in the image under sunlight, and it is difficult to extract stable features. In addition, for the actual measurement system, the amount of data for image feature processing and image matching is large, which makes the speed of the key algorithm unable to meet the real-time nature of the application. Therefore, based on the above problems, this paper proposes a set of threedimensional measurement algorithms based on binocular vision, mainly has four parts, camera calibration, Image correction, stereo matching and pose solving. We use traditional image processing algorithm for satellite image, using M software for camera calibration, and the calibration results are further optimized and corrected, due to the requirements of real-time, based on ORB algorithm, the use of Fast algorithm for feature point extraction and descriptor calculation by Brief, and the polar constraint is fused for feature matching. Improve the robustness and real-time performance of the algorithm, and perform pose solving by rotating angle. Experiments show that the algorithm can quickly and accurately achieve three-dimensional pose measurement.