Circular-Feature-Based Pose Estimation of Noncooperative Satellite Using Time-of-Flight Sensor

Author:

Mu Jinzhen1,Li Shuang1ORCID,Xin Ming2ORCID

Affiliation:

1. Nanjing University of Aeronautics and Astronautics, 211106 Nanjing, People’s Republic of China

2. University of Missouri, Columbia, Missouri 65211

Abstract

This paper develops an end-to-end circular-feature-based pose estimation using the time-of-flight (TOF) camera for capturing serviced satellite. First, the docking ring is chosen as the recognized object for pose measurement. Second, a new ellipse detection method is proposed to detect the docking ring. Third, the circular feature is used to estimate the six-degrees-of-freedom pose with the aid of a reflective block. Combined with the range at each pixel location from TOF, the pose duality can be eliminated, and the roll angle is recovered through the geometric constraint. Ground physical experiments validate the effectiveness and efficiency of the proposed method. The on-orbit application demonstrates that the proposed algorithm can accurately and robustly estimate the relative pose of the noncooperative satellite, providing reliable navigation information for the chaser spacecraft with the relative pose estimation errors less than 2 deg and 5 cm.

Funder

National Natural Science Foundation of China

Shanghai Rising-Star Program

Publisher

American Institute of Aeronautics and Astronautics (AIAA)

Cited by 1 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Anisotropic Scale-Invariant Ellipse Detection;IEEE Transactions on Image Processing;2024

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