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24 October 2005 Terrestrial experiments for the motion estimation of a large space debris object using image data
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Abstract
An algorithm is developed for estimating the motion (relative attitude and relative position) of large pieces of space debris, such as failed satellites. This algorithm is designed to be used by a debris removal system which would perform various operations on space debris such as observation, investigation, capture, repair, refuel and de-orbit. The algorithm uses a combination of stereo vision and 3D model matching, applying the ICP (Iterative Closest Point) algorithm, and uses time series of images to increase the reliability of relative attitude and position estimates. To evaluate the algorithm, a visual simulator is prepared to simulate the on-orbit optical environment in terrestrial experiments, and the motion of a miniature satellite model is estimated using images obtained from this simulator.
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Fuyuto Terui, Heihachiro Kamimura, and Shin'ichiro Nishida "Terrestrial experiments for the motion estimation of a large space debris object using image data", Proc. SPIE 6006, Intelligent Robots and Computer Vision XXIII: Algorithms, Techniques, and Active Vision, 60060A (24 October 2005); doi: 10.1117/12.630467; https://doi.org/10.1117/12.630467
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