Feature-tracking based pose estimation for autonomous rendezvous and docking

Daihou Wang; Hanghang Ren; Yiran Wu; Changhong Wang

doi:10.1109/ISSCAA.2010.5633267

Feature-tracking based pose estimation for autonomous rendezvous and docking

Daihou Wang^*
, Hanghang Ren
, Yiran Wu
, Changhong Wang

^*Corresponding author for this work

School of Astronautics

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

Schemes for feature tracking and relative pose estimation for the final approach of rendezvous and docking procedure is proposed in this paper. Positions of the feature points were predicted by Kalman filter proposed to reduce the searching area, which effectively increased both the calculation speed and the anti-disturbance ability. Relative pose information was retrieved from solving the 3 points problem, and was taken as input of the control loop to navigate the target spacecraft to a fixed position. A vision based RVD simulation platform was built upon the on-ground semi-physical experiment platform, and experiment results showed that the proposed algorithm successfully reduced the searching error and greatly enhanced the calculation speed.

Original language	English
Title of host publication	ISSCAA2010 - 3rd International Symposium on Systems and Control in Aeronautics and Astronautics
Pages	1198-1203
Number of pages	6
DOIs	https://doi.org/10.1109/ISSCAA.2010.5633267
State	Published - 2010
Event	3rd International Symposium on Systems and Control in Aeronautics and Astronautics, ISSCAA2010 - Harbin, China Duration: 8 Jun 2010 → 10 Jun 2010

Publication series

Name	ISSCAA2010 - 3rd International Symposium on Systems and Control in Aeronautics and Astronautics

Conference

Conference	3rd International Symposium on Systems and Control in Aeronautics and Astronautics, ISSCAA2010
Country/Territory	China
City	Harbin
Period	8/06/10 → 10/06/10

Access to Document

10.1109/ISSCAA.2010.5633267

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Wang, D., Ren, H., Wu, Y., & Wang, C. (2010). Feature-tracking based pose estimation for autonomous rendezvous and docking. In ISSCAA2010 - 3rd International Symposium on Systems and Control in Aeronautics and Astronautics (pp. 1198-1203). Article 5633267 (ISSCAA2010 - 3rd International Symposium on Systems and Control in Aeronautics and Astronautics). https://doi.org/10.1109/ISSCAA.2010.5633267

@inproceedings{eb2f719a5c02440381d8239dbdd051da,

title = "Feature-tracking based pose estimation for autonomous rendezvous and docking",

abstract = "Schemes for feature tracking and relative pose estimation for the final approach of rendezvous and docking procedure is proposed in this paper. Positions of the feature points were predicted by Kalman filter proposed to reduce the searching area, which effectively increased both the calculation speed and the anti-disturbance ability. Relative pose information was retrieved from solving the 3 points problem, and was taken as input of the control loop to navigate the target spacecraft to a fixed position. A vision based RVD simulation platform was built upon the on-ground semi-physical experiment platform, and experiment results showed that the proposed algorithm successfully reduced the searching error and greatly enhanced the calculation speed.",

author = "Daihou Wang and Hanghang Ren and Yiran Wu and Changhong Wang",

year = "2010",

doi = "10.1109/ISSCAA.2010.5633267",

language = "英语",

isbn = "9781424460441",

series = "ISSCAA2010 - 3rd International Symposium on Systems and Control in Aeronautics and Astronautics",

pages = "1198--1203",

booktitle = "ISSCAA2010 - 3rd International Symposium on Systems and Control in Aeronautics and Astronautics",

note = "3rd International Symposium on Systems and Control in Aeronautics and Astronautics, ISSCAA2010 ; Conference date: 08-06-2010 Through 10-06-2010",

}

Wang, D, Ren, H, Wu, Y & Wang, C 2010, Feature-tracking based pose estimation for autonomous rendezvous and docking. in ISSCAA2010 - 3rd International Symposium on Systems and Control in Aeronautics and Astronautics., 5633267, ISSCAA2010 - 3rd International Symposium on Systems and Control in Aeronautics and Astronautics, pp. 1198-1203, 3rd International Symposium on Systems and Control in Aeronautics and Astronautics, ISSCAA2010, Harbin, China, 8/06/10. https://doi.org/10.1109/ISSCAA.2010.5633267

Feature-tracking based pose estimation for autonomous rendezvous and docking. / Wang, Daihou; Ren, Hanghang; Wu, Yiran et al.
ISSCAA2010 - 3rd International Symposium on Systems and Control in Aeronautics and Astronautics. 2010. p. 1198-1203 5633267 (ISSCAA2010 - 3rd International Symposium on Systems and Control in Aeronautics and Astronautics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Feature-tracking based pose estimation for autonomous rendezvous and docking

AU - Wang, Daihou

AU - Ren, Hanghang

AU - Wu, Yiran

AU - Wang, Changhong

PY - 2010

Y1 - 2010

N2 - Schemes for feature tracking and relative pose estimation for the final approach of rendezvous and docking procedure is proposed in this paper. Positions of the feature points were predicted by Kalman filter proposed to reduce the searching area, which effectively increased both the calculation speed and the anti-disturbance ability. Relative pose information was retrieved from solving the 3 points problem, and was taken as input of the control loop to navigate the target spacecraft to a fixed position. A vision based RVD simulation platform was built upon the on-ground semi-physical experiment platform, and experiment results showed that the proposed algorithm successfully reduced the searching error and greatly enhanced the calculation speed.

AB - Schemes for feature tracking and relative pose estimation for the final approach of rendezvous and docking procedure is proposed in this paper. Positions of the feature points were predicted by Kalman filter proposed to reduce the searching area, which effectively increased both the calculation speed and the anti-disturbance ability. Relative pose information was retrieved from solving the 3 points problem, and was taken as input of the control loop to navigate the target spacecraft to a fixed position. A vision based RVD simulation platform was built upon the on-ground semi-physical experiment platform, and experiment results showed that the proposed algorithm successfully reduced the searching error and greatly enhanced the calculation speed.

UR - https://www.scopus.com/pages/publications/79952133228

U2 - 10.1109/ISSCAA.2010.5633267

DO - 10.1109/ISSCAA.2010.5633267

M3 - 会议稿件

AN - SCOPUS:79952133228

SN - 9781424460441

T3 - ISSCAA2010 - 3rd International Symposium on Systems and Control in Aeronautics and Astronautics

SP - 1198

EP - 1203

BT - ISSCAA2010 - 3rd International Symposium on Systems and Control in Aeronautics and Astronautics

T2 - 3rd International Symposium on Systems and Control in Aeronautics and Astronautics, ISSCAA2010

Y2 - 8 June 2010 through 10 June 2010

ER -

Feature-tracking based pose estimation for autonomous rendezvous and docking

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