This paper presents a new view that regards pose estimation of an uncooperative rotating target as a simultaneous localization and mapping problem. This approach allows loop closing and relocalization when tracking lost or rotating a period. Using the real-time trackable and updatable mapping, the pose, orientation and angular spin rate of this uncooperative rotating target were determined. To evaluate this approach, a conventional and a micro experimental satellites were installed on the turntable for rotating images acquiring, where its experimental environment under a complex lighting condition. The experiments demonstrate that the proposed approach has a great potential on orbit to address simultaneous localization and mapping problem of uncooperative rotating targets.
Mapping and Pose Estimation of an Uncooperative Rotating Target for Spacecraft Proximity Operations
Lect. Notes Electrical Eng.
2021-10-30
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
British Library Conference Proceedings | 2015
|