典型文献
Non-cooperative target pose estimation based on improved iterative closest point algorithm
文献摘要：
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°.
文献关键词：
中图分类号：
作者姓名：
ZHU Zijian;XIANG Wenhao;HUO Ju;YANG Ming;ZHANG Guiyang;WEI Liang
作者机构：
Department of Astronautics,Harbin Institute of Technology,Harbin 150006,China;Systems Engineering Research Institute,China State Shipbuilding Corporation Limited,Beijing 100036,China;Department of Electrical Engineering and Automation,Harbin Institute of Technology,Harbin 150006,China
文献出处：
引用格式：
[1]ZHU Zijian;XIANG Wenhao;HUO Ju;YANG Ming;ZHANG Guiyang;WEI Liang-.Non-cooperative target pose estimation based on improved iterative closest point algorithm)[J].系统工程与电子技术（英文版）,2022(01):1-10
A类：
localisation,tensify,dependability,tegories,valuing,commingled
B类：
Non,cooperative,estimation,improved,iterative,closest,algorithm,For,unknown,targets,space,existence,interference,points,causes,inaccuracy,while,utilizing,cloud,registration,To,dress,this,issue,paper,proposes,new,ICP,combined,distributed,weights,robustness,have,not,yet,been,extensively,studied,classify,them,into,two,broad,far,near,former,statistical,outlier,elimination,ployed,latter,Gaussian,simul,taneously,variation,Euclidean,distance,from,centroid,are,tradition,In,iteration,matrix,con,nection,overall,obtained,singular,value,decomposition,adopted,accomplish,high,precision,Finally,experiments,imple,mented,by,shooting,satellite,model,setting,outcomes,suggest,that,proposed,can,effectively,suppress,hance,When,number,reaches,about,erage,error,angle,superior
AB值：
0.510648
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