Non-cooperative spacecraft pose tracking based on point cloud feature

He, Ying; Liang, Bin; He, Jin; Li, Shunzhi

doi:10.1016/j.actaastro.2017.06.021

Cited by 48 publications

(16 citation statements)

References 21 publications

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“…There are many studies on the reconstruction and measurement of non-cooperative targets [ 1 , 2 , 3 , 4 , 5 , 6 , 7 , 8 , 9 , 10 , 11 ] or attitude measurement of long symmetric targets based on binocular or multiple stereo vision. There are many kinds of non-cooperative targets to be reconstructed, especially targets in the space, such as satellites and spacecrafts.…”

Section: Introductionmentioning

confidence: 99%

“…There are many kinds of non-cooperative targets to be reconstructed, especially targets in the space, such as satellites and spacecrafts. Many of them are based on feature points [ 2 ], point clouds [ 3 , 4 ], ellipses, circles [ 5 , 6 ] and line structures [ 7 , 8 ], and so on. However, the number of the feature points is huge, and the matches between them are more complicated and less robust than the feature lines.…”

Section: Introductionmentioning

confidence: 99%

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An Accurate Linear Method for 3D Line Reconstruction for Binocular or Multiple View Stereo Vision

Zhong

Qin

Xia

et al. 2021

Sensors

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For the problem of 3D line reconstruction in binocular or multiple view stereo vision, when there are no corresponding points on the line, the method called Direction-then-Point (DtP) can be used, and if there are two pairs of corresponding points on the line, the method called Two Points 3D coordinates (TPS) can be used. However, when there is only one pair of corresponding points on the line, can we get the better accuracy than DtP for 3D line reconstruction? In this paper, a linear and more accurate method called Point-then-Direction (PtD) is proposed. First, we used the intersection method to obtain the 3D point’s coordinate from its corresponding image points. Then, we used this point as a position on the line to calculate the direction of the line by minimizing the image angle residual. PtD is also suitable for multiple camera systems. The simulation results demonstrate that PtD increases the accuracy of both the direction and the position of the 3D line compared to DtP. At the same time, PtD achieves a better result in direction of the 3D line than TPS, but has a lower accuracy in the position of 3D lines than TPS.

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An Accurate Linear Method for 3D Line Reconstruction for Binocular or Multiple View Stereo Vision

Zhong

Qin

Xia

et al. 2021

Sensors

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show abstract

“…According to the specific mission scenario, a suitable pose determination technology includes the most suitable sensor and the effective pose estimating method. Usually monocular vision [ 6 , 7 ], stereo vision [ 8 , 9 ], light detection and ranging (LiDAR) sensors [ 5 , 10 , 11 , 12 , 13 , 14 , 15 , 16 , 17 , 18 ] and time-of-flight (ToF) depth cameras [ 19 , 20 , 21 , 22 , 23 ] are the common sensors used in close range tasks. The key point of the pose method largely depends on the nature of the target spacecraft and the characteristic of the specific sensor type.…”

Section: Introductionmentioning

confidence: 99%

“…Some researchers are focused on the topic of 3D point cloud-based non-cooperative spacecraft relative pose determination [ 12 , 13 , 14 , 15 , 16 , 17 , 18 ]. Usually, the non-cooperative targets can be divided into two categories, depending on whether the geometrical information about their shape and size is available, or they are fully unknown.…”

Section: Introductionmentioning

confidence: 99%

“…Also, when the target is tumbling rapidly, the ICP algorithm may not converge to the optimal value due to the large difference in adjacent sensor data. Besides, the feature points are firstly identified by using curvature, normal and other geometric features of the point cloud to reduce the sensor data number [ 17 , 18 ]. By fusing a ToF depth camera and a coupled high-resolution monocular sensor, multi-sensor solutions have been discussed to improve the effectiveness of the pose estimation [ 22 , 23 ].…”

Section: Introductionmentioning

confidence: 99%

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LiDAR-Based Non-Cooperative Tumbling Spacecraft Pose Tracking by Fusing Depth Maps and Point Clouds

Zhao

2018

Sensors

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How to determine the relative pose between the chaser spacecraft and the high-speed tumbling target spacecraft at close range, which is an essential step in space proximity missions, is very challenging. This paper proposes a LiDAR-based pose tracking method by fusing depth maps and point clouds. The key point is to estimate the roll angle variation in adjacent sensor data by using the line detection and matching in depth maps. The simplification of adaptive voxelized grid point cloud based on the real-time relative position is adapted in order to satisfy the real-time requirement in the approaching process. In addition, the Iterative Closest Point algorithm is used to align the simplified sparse point cloud with the known target model point cloud in order to obtain the relative pose. Numerical experiments, which simulate the typical tumbling motion of the target and the approaching process, are performed to demonstrate the method. The experimental results show that the method has capability of estimating the real-time 6-DOF relative pose and dealing with large pose variations.

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Spaceborne and ground-based sensor collaboration: Advancing resident space objects’ orbit determination for space sustainability

Sajjad,

Mirshams,

Hein

2024

Astrodyn

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Non-cooperative spacecraft pose tracking based on point cloud feature

Cited by 48 publications

References 21 publications

An Accurate Linear Method for 3D Line Reconstruction for Binocular or Multiple View Stereo Vision

An Accurate Linear Method for 3D Line Reconstruction for Binocular or Multiple View Stereo Vision

LiDAR-Based Non-Cooperative Tumbling Spacecraft Pose Tracking by Fusing Depth Maps and Point Clouds

Spaceborne and ground-based sensor collaboration: Advancing resident space objects’ orbit determination for space sustainability

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