Method and system for reconstructing target spacecraft by space robot based on visual touch fusion

The invention discloses a method and system for reconstructing a target spacecraft by a space robot based on visual touch fusion, and relates to the technical field of space robot collaborative awareness, and the method comprises the steps: carrying out the preprocessing of point clouds collected at different moments, carrying out the registration, and obtaining a relative relation between a camera pose and a target pose, splicing each frame of point cloud and screening key frames; the tail end of a mechanical arm provided with electronic skin is used for tactile exploration, a tactile image is converted into local tactile point cloud, the local tactile point cloud is fused with visual point cloud, and the pose of the target spacecraft is corrected based on visual tactile fusion information; training a PointNet + + network by using the data set, inputting the fused point cloud into the PointNet + + network, and identifying components on the spacecraft; and three-dimensional reconstruction is realized by using