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Vision-based Detection and Tracking for Space Navigation in a Rendezvous Context

Antoine Petit 1 Eric Marchand 1 Keyvan 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 : This paper focuses on navigation issues for space au- tonomous, uncooperative rendezvous with targets such as satellites, space vehicles or debris. In order to fully local- ize, using a vision sensor, a chaser spacecraft with respect to a target spacecraft or debris, a visual model-based de- tection and tracking technique is proposed. Our track- ing approach processes complete 3D models of complex objects, of any shape by taking advantage of GPU ac- celeration. From the rendered model, correspondences are found with image edges and the pose estimation task is then addressed as a nonlinear minimization. For de- tection, which initializes the tracking, pose estimation is based on foreground/background segmentation and on an efficient contour matching procedure with synthetic views, over a few initial images. Our methods have been evaluated on both synthetic images and real images.
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Submitted on : Sunday, November 11, 2012 - 5:36:23 PM
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  • HAL Id : hal-00750606, version 1

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Antoine Petit, Eric Marchand, Keyvan Kanani. Vision-based Detection and Tracking for Space Navigation in a Rendezvous Context. Int. Symp. on Artificial Intelligence, Robotics and Automation in Space, i-SAIRAS, 2012, Turin, Italy. ⟨hal-00750606⟩

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