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Monocular 3D Pose Tracking of a Specular Object

Oumer, Nassir W. (2014) Monocular 3D Pose Tracking of a Specular Object. In: 9th International Conference on Computer Vision Theory and Application (VISAPP2014), 3, pp. 458-465. SCITEPRESS Digital Library. 9th International Conference on Computer Vision Theory and Application (VISAPP2014), 5-8 Jan 2014, Lisbon, Portugal. DOI: 10.5220/0004667304580465

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Official URL: http://www.scitepress.org/DigitalLibrary/Link.aspx?doi=10.5220/0004667304580465

Abstract

A space object such as a satellite consists of highly specular surface, and when exposed to directional source of light, it is very difficult for visual tracking. However, camera-based tracking provides an inexpensive solution to the problem of on-orbit servicing of a satellite, such as orbital-life extension by repairing and refuelling, and debris removal. In this paper we present a real time pose tracking method applied to a such object under direct Sunlight, by adapting keypoint and edge-based approach, with known simple geometry. The implemented algorithm is relatively accurate and robust to specular reflection. We show the results which are based on real images from a simulation system of on-orbit servicing, consisting of two six degree of freedom robots, the Sun simulator and a full scale satellite mock-up.

Item URL in elib:https://elib.dlr.de/86972/
Document Type:Conference or Workshop Item (Poster)
Title:Monocular 3D Pose Tracking of a Specular Object
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Oumer, Nassir W.nassir.oumer (at) dlr.deUNSPECIFIED
Date:January 2014
Journal or Publication Title:9th International Conference on Computer Vision Theory and Application (VISAPP2014)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Volume:3
DOI :10.5220/0004667304580465
Page Range:pp. 458-465
Editors:
EditorsEmail
Battiato, SebastianoUNSPECIFIED
Imai, FranciscoUNSPECIFIED
Zhang, LeiUNSPECIFIED
Alain, TremeauUNSPECIFIED
Publisher:SCITEPRESS Digital Library
Status:Published
Keywords:Specular Surface, Pose Tracking, Feature Tracking, Model-based tracking, On-orbit satellite Servicing
Event Title:9th International Conference on Computer Vision Theory and Application (VISAPP2014)
Event Location:Lisbon, Portugal
Event Type:international Conference
Event Dates:5-8 Jan 2014
Organizer:INSTICC
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 (since 2013) > Perception and Cognition
Deposited By: Oumer, Nassir
Deposited On:09 Jan 2015 15:02
Last Modified:31 Jul 2019 19:44

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