By Topic

Pose measurement of large non-cooperative satellite using structured light vision sensor

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Xuehai Gao ; Sch. of Astronaut., Harbin Inst. of Technol., Harbin, China ; Bin Liang ; Xiaodong Du ; Wenfu Xu

In final approach of rendezvous between a space robot and a large non-cooperative target, a single camera of the space robot can not observe a whole feature image of the large target to measure relative pose (attitude and position). To overcome this problem, a structured light is introduced to aid measurement. A partial rectangular framework of the target is chosen as measurement object. Firstly, the measurement model is built and four measurement coordinates systems are presented. Secondly, according to projection constraints on rectangle and circular points, a whole rectangle feature is reconstructed. Thirdly, using the whole rectangle and the structured light, transform matrix between camera and target coordinates systems is computed. Lastly, the relative pose of the partial rectangular framework is derived from the transform matrix. Several numerical simulations are studied to verify the method under different scenarios. The results show that the pose measurement is feasible and effective.

Published in:

Information Science and Technology (ICIST), 2012 International Conference on

Date of Conference:

23-25 March 2012