Accurate 3D geometry measurement for non-cooperative spacecraft with an unfocused light-field camera

doi:10.23919/JSEE.2022.000002

Journal of Systems Engineering and Electronics ›› 2022, Vol. 33 ›› Issue (1): 11-21.doi: 10.23919/JSEE.2022.000002

收稿日期:2020-04-14 接受日期:2021-11-26 出版日期:2022-01-18 发布日期:2022-02-22

Accurate 3D geometry measurement for non-cooperative spacecraft with an unfocused light-field camera

Shengming XU¹(), Shan LU²(), Yueyang HOU²(), Shengxian SHI^1,*()

¹ School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
² Shanghai Key Laboratory of Space Intelligent Control Technology, Shanghai Aerospace Control Technology Institute, Shanghai 201109, China

Received:2020-04-14 Accepted:2021-11-26 Online:2022-01-18 Published:2022-02-22
Contact: Shengxian SHI E-mail:xsm0911@sjtu.edu.cn;9175393@qq.com;houyueyang_hit@163.com;kirinshi@sjtu.edu.cn
About author:|XU Shengming was born in 1994. He received his B.S. degree in Shanghai Jiao Tong University, Shanghai, China, in 2017. He is currently a Ph.D. candidate in Shanghai Jiao Tong University, Shanghai, China. His research interests are experimental fluid mechanics, advanced optical diagnosis in fluid mechanics, light-field particle imaging velocimetry and its applications in turbomachinery. E-mail: xsm0911@sjtu.edu.cn||LU Shan was born in 1982. He received his B.S. degree from the School of Astronautics, Beihang University, Beijing, China, in 2004, and his Ph.D. degree from the School of Astronautics, Beihang University, Beijing, China, in 2009. Currently, he is a research fellow and Deputy Chief Designer of Shanghai Aerospace Control Technology Institute, Shanghai, China. He is the Deputy Director of Shanghai Key Laboratory of Aerospace Intelligent Control Technology, Shanghai, China. His research interests include on-orbit manipulation and intelligent control of spacecraft. E-mail: 9175393@qq.com||HOU Yueyang was born in 1983. He received his B.S. degree from the School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an, China, in 2006, M.S. degree from the Humanoid and Gorilla Robot & Its Intelligent Motion Control Lab, Harbin Institute of Technology, Harbin, China, in 2008, and Ph.D. degree from the Humanoid asnd Gorilla Robot & Its Intelligent Motion Control Lab, Harbin Institute of Technology, Harbin, China in 2014. Currently, he is a senior engineer of Shanghai Aerospace Control Technology Institute, Shanghai, China. His research interests include on-orbit manipulation and robotics. E-mail: houyueyang_hit@163.com||SHI Shengxian was born in 1980. He received his B.S. degree from National University of Defense Technology, Changsha, China, in 2002, M.S. degree from Central South University, Changsha, China, in 2005, and Ph.D. degree from University of Liverpool, Liverpool, UK, in 2010. He is an associate professor and doctoral supervisor in the School of Mechanical Engineering, Shanghai Jiao Tong University, China. His research interests include non-contact optical flow field diagnosis technology, light-field imaging-based 3D flow field measurement, tomographic 3D flow field measurement, and jet flow. E-mail: kirinshi@sjtu.edu.cn

摘要/Abstract

Abstract:

This work explores an alternative 3D geometry measurement method for non-cooperative spacecraft guiding navigation and proximity operations. From one snapshot of an unfocused light-field camera, the 3D point cloud of a non-cooperative spacecraft can be calculated from sub-aperture images with the epipolar plane image (EPI) based light-field rendering algorithm. A Chang’e?3 model (7.2 cm×5.6 cm×7.0 cm) is tested to validate the proposed technique. Three measurement distances (1.0 m, 1.2 m, 1.5 m) are considered to simulate different approaching stages. Measuring errors are quantified by comparing the light-field camera data with a high precision commercial laser scanner. The mean error distance for the three cases are 0.837 mm, 0.743 mm, and 0.973 mm respectively, indicating that the method can well reconstruct 3D geometry of a non-coope-rative spacecraft with a densely distributed 3D point cloud and is thus promising in space-related missions.

Key words: 3D geometry measurement, non-cooperative spacecraft, unfocused light-field camera

. [J]. Journal of Systems Engineering and Electronics, 2022, 33(1): 11-21.

Shengming XU, Shan LU, Yueyang HOU, Shengxian SHI. Accurate 3D geometry measurement for non-cooperative spacecraft with an unfocused light-field camera[J]. Journal of Systems Engineering and Electronics, 2022, 33(1): 11-21.

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$ {s}_{o} $ /m	FOV /mm	Repeated times	Number of points	$ {d}_{{\rm{mean}}} $ /mm
1.0	69×52	1	57 000	0.837
1.2	102×77	1	68 000	0.743
1.2	102×77	30	70 000 Average	0.750 $ \pm $ 0.011
1.5	131×99	1	37 000	0.973

Accurate 3D geometry measurement for non-cooperative spacecraft with an unfocused light-field camera

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