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Monocular Vision-Based Pose Determination in Close Proximity for Low Impact Docking.

Gangfeng Liu1, Congcong Xu2, Yanhe Zhu1

  • 1State Key Laboratory of Robotic and Systems, Harbin Institute of Technology, Heilongjiang 150001, China.

Sensors (Basel, Switzerland)
|July 27, 2019
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Summary

This study presents a new framework for spacecraft pose determination using monocular vision. The method enhances real-time performance and robustness for low-impact docking maneuvers.

Keywords:
low impact dockingmonocular visionpose determination

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Area of Science:

  • Robotics
  • Computer Vision
  • Aerospace Engineering

Background:

  • Accurate pose determination is crucial for autonomous spacecraft docking.
  • Existing methods using artificial beacons or specific shapes have limitations in low-impact scenarios due to individuation and time delays.

Purpose of the Study:

  • To propose a unified framework for relative pose determination between docking mechanisms using monocular vision.
  • To improve real-time performance and robustness for low-impact docking.

Main Methods:

  • Treating guide petals of docking mechanisms as measurement objects.
  • Fusing pose information from one docking mechanism to simplify image processing.
  • Establishing an intermediate coordinate system to solve the perspective-n-point problem.

Main Results:

  • Achieved position measurement error within 3.7 mm.
  • Achieved rotation error around the docking direction of less than 0.16°.
  • Reduced measurement time by 85% compared to existing methods.

Conclusions:

  • The proposed framework offers a robust and real-time solution for relative pose determination in close proximity operations.
  • This method is suitable for low-impact docking scenarios, overcoming limitations of previous approaches.