Robust vision-based pose estimation of moving objects for Automated Rendezvous & Docking

This paper presents a fault-tolerant method for pose estimation of space objects using 3-D vision data by integration of a Kalman filter (KF) and an Iterative Closest Point (ICP) algorithm in a closed-loop configuration. The initial guess for the internal ICP iteration is provided by state estimate propagation of the Kalman filer. The Kalman filter is capable of not only estimating the target's states, but also its inertial parameters. This allows the motion of target to be predictable as soon as the filter converges. Consequently, the ICP can maintain pose tracking over a wider range of velocity due to increased precision of ICP initialization. Furthermore, incorporation of the target's dynamics model in the estimation process allows the estimator continuously provide pose estimation even when the sensor temporally loses its signal namely due to obstruction. The capabilities of the pose estimation methodology is demonstrated by a ground testbed for Automated Rendezvous & Docking (AR&D). In this experiment, Neptec's Laser Camera System (LCS) is used for real-time scanning of a satellite model attached to a manipulator arm, which is driven by a simulator according to orbital and attitude dynamics. The results showed that robust tracking of the free-floating tumbling satellite can be achieved only if the Kalman filter and ICP are in closed-loop configuration.