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Monocular-Based Pose Determination of Uncooperative Known and Unknown Space Objects

Capuano, Vincenzo and Kim, Kyunam and Hu, Juliette and Harvard, Alexei and Chung, Soon-Jo (2018) Monocular-Based Pose Determination of Uncooperative Known and Unknown Space Objects. In: 69th International Astronautical Congress (IAC), 1-5 October 2018, Bremen, Germany. (In Press) http://resolver.caltech.edu/CaltechAUTHORS:20181010-125059291

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Abstract

In order to support spacecraft proximity operations, such as on-orbit servicing and spacecraft formation flying, several vision-based techniques exist to determine the relative pose of an uncooperative orbiting object with respect to the spacecraft. Depending on whether the object is known or unknown, a shape model of the orbiting target object may have to be constructed autonomously by making use of only optical measurements. In this paper, we investigate two vision-based approaches for pose estimation of uncooperative orbiting targets: one that is general and versatile such that it does not require a priori knowledge of any information of the target, and the other one that requires knowledge of the target's shape geometry. The former uses an estimation algorithm of translational and rotational dynamics to sequentially perform simultaneous pose determination and 3D shape reconstruction of the unknown target, while the latter relies on a known 3D model of the target's geometry to provide a point-by-point pose solution. The architecture and implementation of both methods are presented and their achievable performance is evaluated through numerical simulations. In addition, a computer vision processing strategy for feature detection and matching and the Structure from Motion (SfM) algorithm for on-board 3D reconstruction are also discussed and validated by using a dataset of images that are synthetically generated according to a chaser/target relative motion in Geosynchronous Orbit (GEO).


Item Type:Conference or Workshop Item (Paper)
Related URLs:
URLURL TypeDescription
https://www.iac2018.org/OrganizationConference Website
ORCID:
AuthorORCID
Kim, Kyunam0000-0002-7803-1582
Chung, Soon-Jo0000-0002-6657-3907
Additional Information:© 2018 by the International Astronautical Federation (IAF). The first author was supported by the Swiss National Science Foundation (SNSF). This work was also supported in part by the Jet Propulsion Laboratory (JPL). Government sponsorship is acknowledged. The authors thank F. Y. Hadaegh, A. Stoica, M. Wolf, S. R. Alimo, and M. Quadre.
Group:GALCIT
Funders:
Funding AgencyGrant Number
Swiss National Science Foundation (SNSF)UNSPECIFIED
JPLUNSPECIFIED
Subject Keywords:Vision-based Navigation, Spacecraft, Pose Determination
Record Number:CaltechAUTHORS:20181010-125059291
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20181010-125059291
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:90232
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:10 Oct 2018 20:10
Last Modified:10 Oct 2018 20:10

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