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1 April 1991 Pose determination of spinning satellites using tracks of novel regions
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Proceedings Volume 1383, Sensor Fusion III: 3D Perception and Recognition; (1991)
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States
An algorithm for using time sequence video data from a single camera to determine position and orientation (pose) of spin stabilized satellites with respect to a robotic spacecraft is discussed. The system utilizes novelty detection and filtering for locating novel parts and a neural net to track these parts over time. The present paper addresses the estimation of pose from the tracks of the novel regions. The path traced out by a given part (or region) is approximately elliptical in image space, and a psuedoinverse technique is used to find a best-fit ellipse for a set of track points. The position, shape, and orientation of the ellipse are functions of the satellite geometry and its pose. Using this ellipse, and information from a model of the given satellite, an iterative technique is used to perturb an initial guess of pose such that the error between the best-fit ellipse and a predicted ellipse is minimized. Results of using this algorithm on sequences of images of a satellite at various poses and under various lighting conditions are presented.
© (1991) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Andrew John Lee and David P. Casasent "Pose determination of spinning satellites using tracks of novel regions", Proc. SPIE 1383, Sensor Fusion III: 3D Perception and Recognition, (1 April 1991);

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