Real-time 3D vision solution for on-orbit autonomous rendezvous and docking

Ruel, Stephane; English, Chad; Anctil, M.; Daly, John A.; Smith, Clifton L.; Zhu, Shi Yao

doi:10.1117/12.665354

Cited by 12 publications

(7 citation statements)

References 5 publications

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“…Because relative orbit dynamics at geosynchronous altitudes is very benign, the terminal approach vector is not too critical and fuel use to approach and station keep near the target satellite is approximately equivalent to that required for nongravitational free-space control (at least over a reasonable servicing span of a few hours). For this study, a hybrid scanning laser sensor [25,26] is used as the primary relative navigation sensor during both the terminal approach and stationkeeping phases, because this sensor is designed for both long-range (tens of meters to kilometers) and short-range (<2 m) operation. This sensor is capable of determining the six-state relative pose (position and orientation) of a target once its geometric features are observable.…”

Section: A Terminal Approach Phasementioning

confidence: 99%

See 1 more Smart Citation

Autonomous Release of a Snagged Solar Array: Technologies and Laboratory Demonstration

Creamer¹,

Hartley²,

Obermark³

et al. 2014

Journal of Spacecraft and Rockets

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This paper describes a novel concept of operations, payload hardware, terminal navigation strategy, and localized vision scheme for autonomous release of a snagged solar array using a robotic servicing spacecraft. The hardware suite on the servicer consists of two robot arms, end effector cameras, a scanning laser sensor, two local fixed lasers, an end effector fiducial tool, and various active light sources for long-range and localized target illumination. The concept of operations consists of a terminal approach phase, a servicer preparation phase, and an array release phase. The scanning laser sensor is used throughout all phases to determine target pose, whereas the end effector cameras are used during the approach phase for variable baseline stereo ranging and during the release phase for localized scene imaging and arm guidance. Realistic full-scale laboratory tests in a six-degree-offreedom relative navigation and control testbed demonstrate the complex integration and interaction of close-range autonomous relative navigation, cooperative dual-arm robotics, and localized machine vision necessary to perform such a task.

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Section: A Terminal Approach Phasementioning

confidence: 99%

“…For all terminal CONOPS phases, Neptec's 3-D TriDAR scanning laser sensor [25,26], shown in Fig. 6, is used as the primary navigation sensor.…”

Section: Description Of the Laboratory Hardwarementioning

confidence: 99%

Autonomous Release of a Snagged Solar Array: Technologies and Laboratory Demonstration

Creamer¹,

Hartley²,

Obermark³

et al. 2014

Journal of Spacecraft and Rockets

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“…It outputs as a result, the 6 Degree Of Freedom (6DOF) relative pose directly. Innovative computer vision algorithms developed in-house at Neptec allow this process to happen in real-time on TriDAR's embedded flight computer while achieving the necessary robustness and reliability expected for mission critical operations [4] [5]. Initialization of the tracking process is performed by automatic acquisition algorithms also developed in house at Neptec [8].…”

Section: Tridar Relative Navigation Vision Systemmentioning

confidence: 99%

STS-128 on-orbit demonstration of the TriDAR targetless rendezvous and docking sensor

Ruel

Luu

2010

2010 IEEE Aerospace Conference

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Neptec has developed a vision system for autonomous rendezvous and docking in space that does not require the use of cooperative markers, such as retroreflectors, on the target spacecraft. 12 The system uses an active TriDAR 3D sensor along with embedded model based tracking algorithms to provide, out of the box, 6 degree of freedom (6DOF) relative pose information in realtime. The TriDAR (triangulation + LIDAR) sensing technology combines active triangulation and Time-ofFlight (TOF) ranging techniques within a single optical path. This design takes advantage of the complementary nature of these two technologies to provide optimal 3 dimensional data from several kilometers all the way to docking. A thermal imager is also included to provide bearing information at long range.

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“…The Neptec TriDAR [23] is one such system, a hybrid sensor that combines triangulation and LIDAR. It uses LIDAR for blob detection at long distances, pose estimation at distances of 200 m, and a triangulation sensor for pose estimation at short distances ( [80], [81] and [82]). The Neptec TriDAR has been developed from NEPTEC's Orbiter Boom Sensor System 3D laser camera that was used for Shuttle tile inspection on STS-114 [84].…”

Section: Introduction and Previous Workmentioning

confidence: 99%

Target Design for LIDAR-Based ICP Pose Estimation for Space Vision Tasks

Choudhuri¹

2023

Preprint

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The goal of this thesis is to develop a methodology for designing 3D target shapes for accurate LIDAR pose estimation. Scanned from a range of views, this shape can be attached to the surface of a spacecraft and deliver accurate pose scanned. It would act as an LIDAR- based analogue to fiducial markers placed on the surface and viewed by CCD camera(s). Continuum Shape Constraint Analysis (CSCA) which assesses shapes for pose estimation and measures the performance of the Iterative Closest Point (ICP) Algorithm is used as a shape design tool. CSCA directly assesses the sensitivity of pose error to variation in viewing direction. Three of the CSCA measures, Noise Amplification Index, Minimal Eigen-value and Expectivity Index, were compared, and Expectivity Index was shown to be the best index to use as shape design tool. Using CSCA and numerical simulations, a Cuboctahedron was shown to be an optimal shape which delivers an accurate pose when viewed from all angles and the nitial pose guess is close to the true poses. Separate from Constraint Analysis, the problem of shape ambiguity was addressed using numerical tools. The Cuboctahedron was modified in order to resolve shape ambiguity - the tendency of the ICP algorithm to converge with low registration error on a pose configuration geometrically identical, but actually different from a “true pose”. The numerical characteristics of geometrical ambiguity were studied, and a heuristic design methodology to reduce shape ambiguity was developed and is presented in this thesis. A Reduced Ambiguity Cuboctahedron is the resultant shape that delivers an accurate pose from all views and does not suffer from shape ambiguity. The shapes were subjected to simulation and experimental validation. They were manufactured using 3D Rapid Prototyper, and a NEPTEC Design Group TriDAR Scanner was used to obtain experimental data for three shapes: the Tetrahedron, Cuboctahedron, and reduced Ambiguity Cuboctahedron. The Tetrahedron, which has poorly constrained views, was included in the testing process as a comparison shape. The simulation and experimental results were congruent, and validated the design methodology and the designed shapes.

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Real-time 3D vision solution for on-orbit autonomous rendezvous and docking

Cited by 12 publications

References 5 publications

Autonomous Release of a Snagged Solar Array: Technologies and Laboratory Demonstration

Autonomous Release of a Snagged Solar Array: Technologies and Laboratory Demonstration

STS-128 on-orbit demonstration of the TriDAR targetless rendezvous and docking sensor

Target Design for LIDAR-Based ICP Pose Estimation for Space Vision Tasks

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