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Conference papers

Vision-based navigation in low earth orbit

Aurelien Yol 1 Eric Marchand 1 François Chaumette 1 Keyvan Kanani 2 Thomas Chabot 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 presents and compares two vision-based navigation methods for tracking space debris in a low Earth orbit environment. This work is part of the RemoveDEBRIS 1 project. The proposed approaches rely on a frame to frame model-based tracking in order to obtain the complete 3D pose of the camera with respect to the target. The proposed algorithms robustly combine points of interest and edge features, as well as color-based features if needed. Experimental results are presented demonstrating the robustness of the approaches on synthetic image sequences simulating a CubeSat satellite orbiting the Earth. Finally, both methods are compared in order to specify what could be the best choice for the future of the RemoveDEBRIS mission.
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Submitted on : Wednesday, April 20, 2016 - 11:46:19 AM
Last modification on : Wednesday, November 3, 2021 - 4:36:23 AM
Long-term archiving on: : Thursday, July 21, 2016 - 12:21:45 PM


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  • HAL Id : hal-01304728, version 1


Aurelien Yol, Eric Marchand, François Chaumette, Keyvan Kanani, Thomas Chabot. Vision-based navigation in low earth orbit. Int. Symp. on Artificial Intelligence, Robotics and Automation in Space, i-SAIRAS'16, Jun 2016, Beijing, China. ⟨hal-01304728⟩



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