Optical target location using machine vision in space robotics tasks

Sklair, Cheryl W.; Gatrell, Lance B.; Hoff, William; Magee, Michael

doi:10.1117/12.25443

Cited by 9 publications

(6 citation statements)

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“…Because the fiducial target design and image processing approach presented in Sec. V have been validated in on-orbit lighting conditions [19,20], it is expected that the results will be applicable to spaceflight missions.…”

Section: Resultsmentioning

confidence: 98%

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Relative Computer Vision-Based Navigation for Small Inspection Spacecraft

Tweddle

Saenz-Otero

2015

Journal of Guidance, Control, and Dynamics

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Section: Resultsmentioning

confidence: 98%

“…Research was undertaken by Gatrell et al [19] and Sklair et al [20], which developed a point target that is specifically designed for the lighting environments of space. The target they developed is referred to as concentric contrasting circles.…”

Section: Target Design and Detectionmentioning

confidence: 99%

Relative Computer Vision-Based Navigation for Small Inspection Spacecraft

Tweddle

Saenz-Otero

2015

Journal of Guidance, Control, and Dynamics

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“…Research was undertaken by Gatrell et al and Sklair et al, 26,27 which developed a point target that is specifically designed for the lighting environments of space. The target they developed is referred to as concentric contrasting circles.…”

Section: Target Design and Detectionmentioning

confidence: 99%

“…al. 26,27 Step 2 is an implementation of Haralick's iterative solution to the exterior orientation problem. 15 Step 3 is an implementation of a Multiplicative Extended Kalman Filter, 18,28,29 which uses a state vector that consists of the relative position, velocity, orientation and angular velocity.…”

Section: Overview Of Approachmentioning

confidence: 99%

Relative Computer Vision Based Navigation for Small Inspection Spacecraft

Tweddle

2011

AIAA Guidance, Navigation, and Control Conference

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Large spacecraft and satellites can suffer costly on-orbit failures. In many cases, it would be helpful to have a small inspection satellite that can detach from and visually inspect the larger host spacecraft. This type of small inspection satellite must be carefully designed to minimize both the requirements imposed on the host and the risk of collision. For this reason a relative navigation system must be highly reliable and accurate. This paper discusses the design, implementation and testing of a navigation system that utilizes singlecamera computer vision based navigation to estimate the 12 Degree of Freedom relative state. This system uses a fiducial target that is designed to be as small as possible, in order to reduce the space requirement on the host spacecraft. The difficulties of using only the minimum point features are discussed and a nonlinear estimation approach is presented that can overcome these issues. These algorithms are implemented and experimentally tested on the SPHERES satellites, and an upper bound on the precision and accuracy is reported.

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“…A fast and accurate method of obtaining the intrinsic and extrinsic parameters which relate the 2D camera image and the 3D scene is described in [20]. The implementation of Tsai's camera calibration algorithm can also be found in [19].…”

Section: Previous Workmentioning

confidence: 99%