Pose Measurement Method of Non-cooperative Targets Based on Semantic Segmentation

In the process of short-range non-cooperative target capture, the camera can only obtain a part of satellite image due to the angle of view, and it is difficult to identify the structural components and determine the capture point. This paper proposes a non-cooperative measurement method based on semantic segmentation algorithm using ToF camera. Firstly, a registration algorithm matching RGB image with depth map is designed. An improved BiseNet network is established by means of transfer learning method, and the semantic segmentation model of satellite structure components is completed. Then, the semantic matching results are combined with the point-cloud data to fit the docking ring attitude angle and to select the appropriate capturing point. Finally, physical experiment is completed and the experiment result shows the method providing a feasible intelligent engineering scheme.