Vision-based Space Autonomous Rendezvous : A Case Study

A. Petit 1 E. Marchand 1 K. Kanani 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 im- poses stringent performance requirements regarding naviga- tion. For the final phase, a vision-based navigation can be a solution. A 3D model-based tracking algorithm has been studied and tested on a mock-up of a telecommunication satellite, using a 6-DOF robotic arm, with satisfactory results, in terms of precision of the pose estimation and computational costs. Quantitative tests in open loop have been carried out to show the robustness of the algorithm to relative inter frame motions chaser/target, orientation variations and illumination conditions. The tracking algorithm has also been successfully implemented in a closed loop chain for visual servoing.
keyword : Visual Servoing
Type de document :
Communication dans un congrès
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'11, 2011, San Francisco, USA, United States. pp.619-624, 2011
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A. Petit, E. Marchand, K. Kanani. Vision-based Space Autonomous Rendezvous : A Case Study. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'11, 2011, San Francisco, USA, United States. pp.619-624, 2011. 〈hal-00639699〉

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