Pose estimation of non-cooperative target based on depth image

Dianqi Sun; Haodong Pei; Huixian Duan; Liang Hu

doi:10.1117/12.2602309

24 November 2021 Pose estimation of non-cooperative target based on depth image

Dianqi Sun, Haodong Pei, Huixian Duan, Liang Hu

Proceedings Volume 12061, AOPC 2021: Infrared Device and Infrared Technology; 120610B (2021) https://doi.org/10.1117/12.2602309
Event: Applied Optics and Photonics China 2021, 2021, Beijing, China

Abstract

The precondition of clearing space non-cooperative targets is to obtain the relative position and attitude of space noncooperative target. In this paper, a new pose estimation method based on the geometric features in the depth image is proposed to obtain the relative position and attitude of the space non-cooperative target. The proposed method detects the docking ring and other geometric features of various payloads in the depth image of time-of-flight (TOF) camera, and then converts the detected image into a smaller point cloud utilizing the TOF camera parameters. Finally, we register the filtered point cloud of every two frames with Iterative Closest Point (ICP) method and calculate the rotation and translation matrix. The experimental results verifies that the proposed method can estimate the relative position and attitude with less errors and calculation, which meets the requirement of on-orbit service.

Citation Download Citation

Dianqi Sun, Haodong Pei, Huixian Duan, and Liang Hu "Pose estimation of non-cooperative target based on depth image", Proc. SPIE 12061, AOPC 2021: Infrared Device and Infrared Technology, 120610B (24 November 2021); https://doi.org/10.1117/12.2602309

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