This article presents an innovative framework of real-time vision-based pose tracking for asteroid using the contour information of the asteroid image. At the first-time instant, the tracking is initialized by the distance-based template matching and contour-based pose optimization. Subsequently, at each time instant, with the prediction of the extended Kalman filter (EKF) as initial guess, the pose of the asteroid is obtained in real time by geometrically fitting the contour of the projected asteroid CAD model over the contour of the asteroid image with M-estimation. The variance of the pose is calculated based on 1-order approximation inference, which enables EKF to generate the final pose estimation and predict the pose at the next time instant. Sufficient experiments validate the accuracy and the efficiency of the proposed method.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Real-Time Model-Based Monocular Pose Tracking for an Asteroid by Contour Fitting


    Contributors:
    Liu, Chang (author) / Guo, Wulong (author) / Hu, Weiduo (author) / Chen, Rongliang (author) / Liu, Jia (author)


    Publication date :

    2021-06-01


    Size :

    7041705 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    Silhouette lookup for monocular 3D pose tracking

    Howe, N. R. | British Library Online Contents | 2007




    A DSP-based Real Time Contour Tracking System

    Gemignani, V. / Provvedi, S. / Demi, M. et al. | British Library Conference Proceedings | 1999