Non-cooperative Target Recognition Technology Based on Line Structured Light

A relative pose measurement method based on three line structured light using a star arrow docking ring as the capture target is proposed for the problem of non cooperative target pose measurement at close range. This method uses a three wire structured light measurement device as the measurement sensor and the commonly used space carrier satellite rocket docking ring as the capture target. Based on the common characteristics of the docking ring, combined with straight line features and point features, the relative pose solution features are obtained, and the relative pose relationship between the robot tool coordinate system and the docking ring object coordinate system is obtained. Through a large number of demonstration experiments, experimental results are obtained. In the accuracy testing stage, the accuracy testing results of one system and two systems are compared. In the selected experimental environment, the average error can be reduced by 43–56% compared to a single camera, proving the effectiveness of the algorithm.