3D model-based detection and tracking for space autonomous and uncooperative rendezvous

Yang Shang; Yueqiang Zhang; Haibo Liu

doi:10.1117/12.2224964

15 October 2015 3D model-based detection and tracking for space autonomous and uncooperative rendezvous

Yang Shang, Yueqiang Zhang, Haibo Liu

Proceedings Volume 9676, AOPC 2015: Optical Design and Manufacturing Technologies; 967618 (2015) https://doi.org/10.1117/12.2224964
Event: Applied Optics and Photonics China (AOPC2015), 2015, Beijing, China

Abstract

In order to fully navigate using a vision sensor, a 3D edge model based detection and tracking technique was developed. Firstly, we proposed a target detection strategy over a sequence of several images from the 3D model to initialize the tracking. The overall purpose of such approach is to robustly match each image with the model views of the target. Thus we designed a line segment detection and matching method based on the multi-scale space technology. Experiments on real images showed that our method is highly robust under various image changes. Secondly, we proposed a method based on 3D particle filter (PF) coupled with M-estimation to track and estimate the pose of the target efficiently. In the proposed approach, a similarity observation model was designed according to a new distance function of line segments. Then, based on the tracking results of PF, the pose was optimized using M-estimation. Experiments indicated that the proposed method can effectively track and accurately estimate the pose of freely moving target in unconstrained environment.

Citation Download Citation

Yang Shang, Yueqiang Zhang, and Haibo Liu "3D model-based detection and tracking for space autonomous and uncooperative rendezvous", Proc. SPIE 9676, AOPC 2015: Optical Design and Manufacturing Technologies, 967618 (15 October 2015); https://doi.org/10.1117/12.2224964

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