3D Model-based Visual tracking for Space Autonomous Rendezvous

Antoine Petit 1 Noela Despre 2 Eric Marchand 1 Keyvan Kanani 2 Francois Chaumette 1 Séverin Provost 2 Grégory Flandin 2
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : For a space rendezvous mission, autonomy imposes stringent performance requirements regarding navigation, for the guidance and control to be managed. For the final phase of the rendezvous, a vision-based navigation, using a monocular camera, can be a solution. Markerless 3D model-based tracking has been studied and tested on a mock-up of a telecommunication satellite. Tests on typical approach scenarios have shown satisfactory results, in terms of precision of the pose estimation and computational costs. Quantitative tests have also been carried out to determine the robustness of the algorithm to inter frame motions, orientation, illumination conditions and initialization uncertainty. The tracking algorithm has also been successfully implemented in a closed loop chain for visual servoing.
Keywords : Visual Servoing space
Type de document :
Communication dans un congrès
8th Int. ESA Conf. on Guidance and Navigation Control Systems, GNC'11, 2011, Carlsbad, Czech Republic, Czech Republic. 2011
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Soumis le : mardi 13 novembre 2012 - 11:36:32
Dernière modification le : mercredi 11 avril 2018 - 01:51:21
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  • HAL Id : hal-00639698, version 1

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Antoine Petit, Noela Despre, Eric Marchand, Keyvan Kanani, Francois Chaumette, et al.. 3D Model-based Visual tracking for Space Autonomous Rendezvous. 8th Int. ESA Conf. on Guidance and Navigation Control Systems, GNC'11, 2011, Carlsbad, Czech Republic, Czech Republic. 2011. 〈hal-00639698〉

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