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Tracking and Pose Estimation of Non-cooperative Satellite for On-orbit Servicing

Oumer, Nassir W. and Panin, Giorgio (2012) Tracking and Pose Estimation of Non-cooperative Satellite for On-orbit Servicing. In: i-SAIRAS 2012. European Space Agency (ESA). i-SAIRAS 2012, 4-6 Sep 2012, Turin,Italy.

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Official URL: http://robotics.estec.esa.int/i-SAIRAS/isairas2012/Papers/Session%204B/04B_01_Oumer.pdf


We present a camera-based 3D feature tracking method, integrated into a bank of iterated, extended Kalman filters (IEKF), associated to each visual feature. The approach exploits motion field to estimate velocities of the rigid body. The depths are required only for initialization, and can be obtained either from joint estimation of depth and motion or from stereo correspondence. The motion of each 3D point cloud is predicted under a common rigid velocity constraint. A robust pose estimator, based on dual-quaternions and 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. Results are shown on images of a satellite-mockup, to demonstrate performances for on-orbit servicing in space environment.

Item URL in elib:https://elib.dlr.de/80133/
Document Type:Conference or Workshop Item (Speech)
Title:Tracking and Pose Estimation of Non-cooperative Satellite for On-orbit Servicing
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Oumer, Nassir W.nassir.oumer (at) dlr.deUNSPECIFIED
Panin, Giorgiogiorgio.panin (at) dlr.deUNSPECIFIED
Date:September 2012
Journal or Publication Title:i-SAIRAS 2012
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:8
Publisher:European Space Agency (ESA)
Series Name:Proceedings of i-SAIRAS
Keywords:3D tracking, Pose estimation, On-orbit servicing, EKF
Event Title:i-SAIRAS 2012
Event Location:Turin,Italy
Event Type:international Conference
Event Dates:4-6 Sep 2012
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 Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Oumer, Nassir
Deposited On:11 Jan 2013 14:57
Last Modified:31 Jul 2019 19:39

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