A monocular structured light vision method for pose determination of large non-cooperative satellites

Gao, Xueshan; Liang, Bin; Pan, Le; Li, Zhiheng; Zhang, Yingchun

doi:10.1007/s12555-014-0546-x

Cited by 15 publications

(7 citation statements)

References 12 publications

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“…The pose estimation of uncooperative space objects is a key technology for many space missions such as target recognition and on-orbit service [1,2]. In contrast to other state-of-the-art systems, a monocular camera ensures pose estimation under low power and low hardware complexity [3]. However, it is sometimes hard for the monocular camera to provide clear image sequence limited by the observation condition.…”

Section: Introductionmentioning

confidence: 99%

Pose Estimation of Uncooperative Unknown Space Objects from a Single Image

Ren

Jiang

Wang

2020

International Journal of Aerospace Engineering

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Estimating the 3D pose of the space object from a single image is an important but challenging work. Most of the existing methods estimate the 3D pose of known space objects and assume that the detailed geometry of a specific object is known. These methods are not available for unknown objects without the known geometry of the object. In contrast to previous works, this paper devotes to estimate the 3D pose of the unknown space object from a single image. Our method estimates not only the pose but also the shape of the unknown object from a single image. In this paper, a hierarchical shape model is proposed to represent the prior structure information of typical space objects. On this basis, the parameters of the pose and shape are estimated simultaneously for unknown space objects. Experimental results demonstrate the effectiveness of our method to estimate the 3D pose and infer the geometry of unknown typical space objects from a single image. Moreover, experimental results show the advantage of our approach over the methods relying on the known geometry of the object.

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Section: Introductionmentioning

confidence: 99%

Pose Estimation of Uncooperative Unknown Space Objects from a Single Image

Ren

Jiang

Wang

2020

International Journal of Aerospace Engineering

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“…Moreover, if one of the cameras is compromised, the system will not function. Gao et al designed a monocular structured light vision system for large, non-cooperative satellites [20]. However, this method is suitable only for satellites with rectangular features on their antennae, and, similar to the case of artificial beacons, the antenna needs to be accurately mounted in a specific location.…”

Section: Introductionmentioning

confidence: 99%

Monocular Vision-Based Pose Determination in Close Proximity for Low Impact Docking

Liu

Zhu

et al. 2019

Sensors

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Pose determination in close proximity is critical for space missions in which monocular vision is one of the most promising solutions. Although numerous approaches such as using artificial beacons or specific shapes on spacecrafts have proved to be effective, the high individuation and the large time delay limit their use in low impact docking. This paper proposes a unified framework to determinate the relative pose between two docking mechanisms by treating their guide petals as measurement objects. Fusing the pose information of one docking mechanism to simplify image processing and creating an intermediate coordinate system to solve the perspective-n-point problem greatly improve the real-time performance and the robustness of the method. Experimental results show that the position measurement error is within 3.7 mm, while the rotation error around docking direction is less than 0.16°, corresponding to a measurement time reduction of 85%.

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“…Magee [2] was the first to present a procedure for determining the unique position of a robot in a three dimensional space. That method has been continuously improved in different areas as large non-cooperative satellites [3] or Unmanned Aerial Vehicle (UAV) Control [4,5]. Different methods for monocular pose estimation have been studied in the past [6][7][8][9].…”

Section: Introductionmentioning

confidence: 99%

Global Positioning from a Single Image of a Rectangle in Conical Perspective

Amestoy

Ortiz²

2019

Sensors

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This article presents a method to obtain the overall positioning of the focus of a camera from an image that includes a rectangle in a fixed reference with known position and dimension. This technique uses basic principles of descriptive geometry introduced in engineering courses. The document will first show how to obtain the dihedral projections of a rectangle after three turns and one translation. Secondly, we will proceed to obtain the image of the rectangle rotated in a conical perspective, taking the elevation plane as the drawing plane and a specific point in space as the view point, and represented in the dihedral system. Thirdly, we proceed with the inverse perspective transformation; we will expose a method to obtain the coordinates in the space of a rectangle obtained from an image. Finally, we check the method experimentally by taking an image of the rectangle with a camera in which the coordinates in the drawing plane (center of the image) are the only available position information. Then, the positioning and orientation of the camera in 3D will be obtained.

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A monocular structured light vision method for pose determination of large non-cooperative satellites

Cited by 15 publications

References 12 publications

Pose Estimation of Uncooperative Unknown Space Objects from a Single Image

Pose Estimation of Uncooperative Unknown Space Objects from a Single Image

Monocular Vision-Based Pose Determination in Close Proximity for Low Impact Docking

Global Positioning from a Single Image of a Rectangle in Conical Perspective

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