Vision-based stabilization of nonholonomic mobile robots by integrating sliding-mode control and adaptive approach

Cao, Zhengcai; Yin, Longjie; Fu, Yili

doi:10.3901/cjme.2013.01.021

Cited by 3 publications

(1 citation statement)

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“…For relative position measurement, vision has some advantages in weight, volume, power consumption and cost of equipment [4][5][6]. In the smart-OLEV [7][8] mission, the SMART-1 platform uses stereo cameras and lighting equipment to provide better measurement data within 5 meters, but only provides pointing data at a long distance.…”

Section: Introductionmentioning

confidence: 99%

Spacecraft Pose Estimation Based on Different Camera Model

Lidong

Chi

Zhao

2020

Preprint

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Spacecraft pose estimation is an important technology for spacecraft to maintain or change its orientation in space. For spacecraft pose estimation, when two spacecraft are relatively far away, the depth information of the space point is less than that of measuring distance, so that the camera model can be seen as a weak perspective projection model. In this paper, a spacecraft pose estimation algorithm based on four symmetrical points of the spacecraft outline is proposed. Analytical solution of spacecraft pose is obtained by solving the weak perspective projection model, which can meet the requirements of the measurement model when there is a long measurement distance. Optimal solution is obtained from the weak perspective projection model to the perspective projection model, which can meet the measurement requirement when the measuring distance is close. The simulation results show that the proposed algorithm can get better results even though the noise is large.

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Section: Introductionmentioning

confidence: 99%