Downloaded From: http://opticalengineering.spiedigitallibrary.org/ on 08/24/2015 Terms of Use: http://spiedigitallibrary.org/ss/TermsOfUse.aspx Scale-unambiguous relative pose estimation of space uncooperative targets based on the fusion of three-dimensional time-of-flight camera and monocular cameraAbstract. An approach of scale-unambiguous relative pose estimation for space uncooperative targets based on the fusion of low resolution three-dimensional time-of-flight camera and monocular camera is proposed. No a priori knowledge about the targets is assumed. First, a modified range-intensity Markov random field model is presented to quickly reconstruct the range value for each feature point. Second, the scale-ambiguous relative pose estimation algorithm based on extended Kalman filter-unscented Kalman filter-particle filter combination filter is designed in vision simultaneous localization and mapping framework. Third, the overall scale factor estimation approach based on range-intensity fusion image, which takes the feature points' range reconstruction uncertainty as measurement noise, is proposed for the final scale-unambiguous pose estimation. Finally, some simulations demonstrate the validity and capability of the proposed approach.

A dense surface reconstruction approach based on the fusion of monocular vision and three-dimensional (3-D) flash light detection and ranging (LIDAR) is proposed. The texture and geometry information can be obtained simultaneously and quickly for stationary or moving targets with the proposed method. Primarily, our 2-D/3-D fusion imaging system including cameras calibration and an intensity-range image registration algorithm is designed. Subsequently, the adaptive block intensity-range Markov random field (MRF) with optimizing weights is presented to improve the sparse range data from 3-D flash LIDAR. Then the energy function is minimized quickly by conjugate gradient algorithm for each neighborhood system instead of the whole MRF. Finally, the experiments with standard depth datasets and real 2-D/3-D images demonstrate the validity and capability of the proposed scheme.

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