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Conference Papers Year : 2011

Vision-based Space Autonomous Rendezvous : A Case Study

Abstract

For a space rendezvous mission, autonomy im- poses stringent performance requirements regarding naviga- tion. For the final phase, a vision-based navigation can be a solution. A 3D model-based tracking algorithm has been studied and tested on a mock-up of a telecommunication satellite, using a 6-DOF robotic arm, with satisfactory results, in terms of precision of the pose estimation and computational costs. Quantitative tests in open loop have been carried out to show the robustness of the algorithm to relative inter frame motions chaser/target, orientation variations and illumination conditions. The tracking algorithm has also been successfully implemented in a closed loop chain for visual servoing.

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Dates and versions

hal-00639699 , version 1 (09-11-2011)

Identifiers

  • HAL Id : hal-00639699 , version 1

Cite

A. Petit, E. Marchand, Keyvan Kanani. Vision-based Space Autonomous Rendezvous : A Case Study. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'11, 2011, San Francisco, USA, United States. pp.619-624. ⟨hal-00639699⟩
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