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3D Point Tracking and Pose Estimation of a Space Object Using Stereo Images

Oumer, Nassir W. and Panin, Giorgio (2012) 3D Point Tracking and Pose Estimation of a Space Object Using Stereo Images. ICPR 2012, 11-15 Nov 2012, Tsukuba, Japan.

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Abstract

In this paper, we present a novel method for stereo camera-based 3D tracking which integrates point-kinematics, associated to each visual feature into Kalman filters. The approach utilizes optical flow and stereo correspondence of visible, predominatly specular features on a target satellite surface,in order to estimate translational and rotational velocities of the rigid body. The motion of each 3D point cloud can be predicted, since all point clouds are constrained by the common, rigid motion. A dual quaternion-based pose estimator, robustified with median statistics, is further applied to the estimated points. In case of temporarily missing measurements, the last estimated body velocity is used to predict the next poses.Experimental results based on images of a satellite simulator are shown to demonstrate performances for on-orbit servicing.

Item URL in elib:https://elib.dlr.de/78868/
Document Type:Conference or Workshop Item (Paper)
Title:3D Point Tracking and Pose Estimation of a Space Object Using Stereo Images
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Oumer, Nassir W.nassir.oumer (at) dlr.deUNSPECIFIED
Panin, Giorgiogiorgio.panin (at) dlr.deUNSPECIFIED
Date:November 2012
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Motion, Tracking and Video Analysis, Vision for Robotics
Event Title:ICPR 2012
Event Location:Tsukuba, Japan
Event Type:international Conference
Event Dates:11-15 Nov 2012
Organizer:IAPR - International Association of Pattern Recognition
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben On-Orbit Servicing - GNC und VR
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Panin, Giorgio
Deposited On:27 Nov 2012 11:20
Last Modified:13 Jul 2016 17:28

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