AbstractThis paper presents a methodology for estimating the position and orientation of a rocket body in orbit – the target – undergoing a roto-translational motion, with respect to a chaser spacecraft, whose task is to match the target dynamics for a safe rendezvous. During the rendezvous maneuver the chaser employs a Time-of-Flight camera that acquires a point cloud of 3D coordinates mapping the sensed target surface. Once the system identifies the target, it initializes the chaser-to-target relative position and orientation. After initialization, a tracking procedure enables the system to sense the evolution of the target's pose between frames. The proposed algorithm is evaluated using simulated point clouds, generated with a CAD model of the Cosmos-3M upper stage and the PMD CamCube 3.0 camera specifications.
HighlightsA ToF camera-based system for pose estimation of space debris is presented.Pose initialization by a method without model matching for a specific target.Pose tracking using Iterative Closest Point algorithm and Extended Kalman Filter.An assessment of the algorithms employing noisy simulated data is introduced.
Pose estimation and tracking of non-cooperative rocket bodies using Time-of-Flight cameras
Acta Astronautica ; 139 ; 165-175
2017-07-05
11 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Pose estimation and tracking of non-cooperative rocket bodies using Time-of-Flight cameras
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