Rectangular-structure-based pose estimation method for non-cooperative rendezvous

Zhang, Limin; Hao, Yong; Wang, Pan

doi:10.1364/ao.57.006164

Cited by 21 publications

(8 citation statements)

References 28 publications

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“…To satisfy the demands of motion control parameter input, the results achieved based on the visual feedback scheme of relative quaternion estimation [15] and coupled relative translation [16] are referenced for attitude control and orbit tracking. To enrich the available feature information, as highlighted in [17], a precise method for pose estimation by exploiting the object geometric structure is significantly effective, employing the corners of the solar panel as features. Moreover, [18], [19] suggested that the information-rich edge contour features lead to the advantages of small calculation, stable extraction, and strong anti-noise ability.…”

Section: Introductionmentioning

confidence: 99%

Expedited Pose Estimation Algorithm Involving Perturbance Affine Term Based on Projection Vector for Space Target

2020

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The present study primarily discusses the perturbance error indeterminacy that is caused by anisotropic and correlated non-identical gray distribution of feature points in vision measurement for space target pose parameters. On that basis, an expedited algorithm that involves perturbance affine term based on the novel statistical objective function is proposed. By invoking the inverse covariance matrix to model a novel data space, the pose estimation algorithm based on projection vector is capable of reducing the effect of different levels of disturbance error on the measured results, as well as effectively avoiding the poor or non-convergence attributed to data degradation. Furthermore, the repeated calculation is avoided by coupling each iteration, which significantly simplifies the computation. As a consequence, the calculation complexity of each iteration decreases from O(n) to O(1), and the expediting process is implemented significantly. Lastly, as revealed from the experimental results, the calculation efficiency is improved by 3.3 times, and the maximum measured error of the space target attitude is less than 0.1°. Compared with the conventional methods, the proposed algorithm exhibits the effectively promoted speed-ability, precision and indeterminacy attenuation performance, suggesting that the proposed approach should have promising practical applications in deep-space target capture.

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Section: Introductionmentioning

confidence: 99%

Expedited Pose Estimation Algorithm Involving Perturbance Affine Term Based on Projection Vector for Space Target

2020

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“…Some researchers use the 3D point cloud feature matching techniques. These techniques firstly extract geometric features such as points, lines [26] and planes [27], [28] or feature descriptors [22], [29] of the target 3D point cloud, then adopt the corresponding feature matching methods to estimate the pose of the non-cooperative target. Others use the 3D point cloud direct registration approaches [30], adopting the iterative closest point (ICP) method [35] and directly registering the XYZ coordinates between two point clouds to achieve pose estimation.…”

Section: Introductionmentioning

confidence: 99%

Pose Estimation of Non-Cooperative Target Coated With MLI

et al. 2019

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The relative pose estimation between the chaser and the non-cooperative target is a significant prerequisite for performing on-orbit servicing (OOS) missions. The chaser could design the close-range rendezvous trajectory to approach the non-cooperative target only when the relative pose parameters are obtained effectively and efficiently. In this paper, a pose estimation scheme is designed to obtain the relative pose parameters between the chaser and the non-cooperative target coated with multilayer insulation material (MLI). The scheme utilizes a time-of-flight (TOF) camera to acquire 3D point clouds of the non-cooperative target, and uses the iterative closest point (ICP) method to achieve the point cloud registration between every two frames. Aiming at decreasing the non-systematic errors caused by MLI in the data acquisition of the TOF camera, the corresponding point median filtering approach is adopted to filter out the bad corresponding point pairs generated in the ICP method. A semi-physical experiment is carried out to evaluate the performance of the proposed scheme, the result of which shows that the proposed scheme could notably improve the accuracy of pose estimation of the non-cooperative target, meanwhile the computational efficiency is also ensured.INDEX TERMS Non-cooperative target, multilayer insulation material (MLI), pose estimation, time-offlight (TOF), iterative closest point (ICP), corresponding point median filtering.

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“…Li et al [8] used parallel binocular cameras to estimate the pose of a non-cooperative target based on stereo matching and 3D restructuring. Zhang et al [9,10] proposed optimization-based methods to estimate the relative pose using stereo cameras, and the geometric structure of the non-cooperative target was exploited to improve the accuracy. Deng et al [11] implemented an on-board binocular vision-based system to estimate the pose of Unmanned Aerial Vehicles (UAVs) for autonomous aerial refueling.…”

Section: Introductionmentioning

confidence: 99%

Pose Estimation for Straight Wing Aircraft Based on Consistent Line Clustering and Planes Intersection

Teng

Luo³

et al. 2019

Sensors

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Aircraft pose estimation is a necessary technology in aerospace applications, and accurate pose parameters are the foundation for many aerospace tasks. In this paper, we propose a novel pose estimation method for straight wing aircraft without relying on 3D models or other datasets, and two widely separated cameras are used to acquire the pose information. Because of the large baseline and long-distance imaging, feature point matching is difficult and inaccurate in this configuration. In our method, line features are extracted to describe the structure of straight wing aircraft in images, and pose estimation is performed based on the common geometry constraints of straight wing aircraft. The spatial and length consistency of the line features is used to exclude irrelevant line segments belonging to the background or other parts of the aircraft, and density-based parallel line clustering is utilized to extract the aircraft’s main structure. After identifying the orientation of the fuselage and wings in images, planes intersection is used to estimate the 3D localization and attitude of the aircraft. Experimental results show that our method estimates the aircraft pose accurately and robustly.

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Rectangular-structure-based pose estimation method for non-cooperative rendezvous

Cited by 21 publications

References 28 publications

Expedited Pose Estimation Algorithm Involving Perturbance Affine Term Based on Projection Vector for Space Target

Expedited Pose Estimation Algorithm Involving Perturbance Affine Term Based on Projection Vector for Space Target

Pose Estimation of Non-Cooperative Target Coated With MLI

Pose Estimation for Straight Wing Aircraft Based on Consistent Line Clustering and Planes Intersection

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