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Collaborative Pose Estimation of an Unknown Target Using Multiple Spacecraft

Matsuka, Kai and Santamaria-Navarro, Angel and Capuano, Vincenzo and Harvard, Alexei and Rahmani, Amir and Chung, Soon-Jo (2021) Collaborative Pose Estimation of an Unknown Target Using Multiple Spacecraft. In: 2021 IEEE Aerospace Conference. IEEE , Piscataway, NJ, pp. 1-11. ISBN 978-1-7281-7436-5.

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A reliable method for estimating the pose of an unknown and uncooperative space target using monocular vision remains an open problem. Vision-based pose determination is challenging due to factors such as harsh lighting conditions, rotational dynamics of the target, and scale ambiguity of the monocular camera. To address these challenges, we propose a novel collaborative pose determination algorithm called Multi-Spacecraft Simultaneous Estimation of Pose and Shape algorithm or M-SEPS. Within M-SEPS, a team of chaser spacecraft, each equipped with a monocular camera, exchange information over a local network to jointly estimate the relative kinematic state of the target and its sparse shape landmarks. In this approach, each spacecraft processes its images and extracts its own set of visual keypoints in parallel. Then, the team uses the local network to jointly estimate the target pose and shape in a distributed fashion by applying the consensus algorithm over the inter-spacecraft communication links. We validate our algorithm using simulations of relative orbits and observations captured by each chaser spacecraft. To the best of the authors' knowledge, this is the first cooperative vision-based algorithm for estimating the pose and shape of a space object by means of an arbitrary number of spacecraft.

Item Type:Book Section
Related URLs:
URLURL TypeDescription
Matsuka, Kai0000-0003-2116-9756
Capuano, Vincenzo0000-0002-6886-5719
Chung, Soon-Jo0000-0002-6657-3907
Additional Information:© 2021 IEEE. Kai Matsuka was supported by the National Science Foundation Graduate Research Fellowship under Grant No. DGE 1745301. Vincenzo Capuano was supported by the Swiss National Science Foundation. Part of this research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. Copyright 2020 California Institute of Technology. U.S. Government sponsorship acknowledged.
Funding AgencyGrant Number
NSF Graduate Research FellowshipDGE-1745301
Swiss National Science Foundation (SNSF)UNSPECIFIED
Record Number:CaltechAUTHORS:20211007-145642151
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Official Citation:K. Matsuka, A. Santamaria-Navarro, V. Capuano, A. Harvard, A. Rahmani and S. -J. Chung, "Collaborative Pose Estimation of an Unknown Target Using Multiple Spacecraft," 2021 IEEE Aerospace Conference (50100), 2021, pp. 1-11, doi: 10.1109/AERO50100.2021.9438352
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:111261
Deposited By: Tony Diaz
Deposited On:07 Oct 2021 15:55
Last Modified:07 Oct 2021 15:55

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