Vision-Based Relative Pose Estimation for Autonomous Rendezvous And Docking
Abstract
Autonomous rendezvous and docking is necessary for planned space programs such as DARPA ASTRO, NASA MSR, ISS assembly and servicing, and other rendezvous and proximity operations. Estimation of the relative pose between the host platform and a resident space object is a critical ability. We present a model-based pose refinement algorithm, part of a suite of algorithms for vision-based relative pose estimation and tracking. Algorithms were tested in high-fidelity simulation and stereo-vision hardware test bed environments. Testing indicated that in most cases, the model-based pose refinement algorithm can handle initial attitude errors up to about 20 degrees, range errors exceeding 10% of range, and transverse errors up to about 2% of range. Preliminary point tests with real camera sequences of a 1/24 scale Magellan satellite model using a simple fixed-gain tracking filter showed potential tracking performance with mean errors of < 3 degrees and < 2% of range.
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Two image simulation tools have been specifically developed to support vision-based navigation in space scenes: PANGU and SurRender.
“two image simulation tools have so far been specifically developed to support vision-based navigation in space scenes (e.g. Martian surface, asteroid landing): the early PANGU [30] used by ESA and the more comprehensive Airbus internal simulator: SurRender [31], which supports ray tracing and very large datasets.”
From Deep Learning for Spacecraft Pose Estimation from Photorealistic Rendering (2020) · cites this paper as [30]
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- Authors
- Kelsey, J. M., Byrne, J., Cosgrove, M., Seereeram, S., & Mehra, R. K.
- Affiliations
- Scientific Systems (United States) (US)
- ORCID
- Byrne, J.
- Venue
- 2006 IEEE Aerospace Conference
- Publisher
- IEEE
- Published
- 2006-08-02
- Pages
- 1-20
- ISSN
- 1095-323X (ISSN-L)
- OpenAlex
- W1581087960
- Cited by
- 130
- References
- 21
- Citations by year
- 2026: 2 · 2025: 5 · 2024: 11 · 2023: 12 · 2022: 8 · 2021: 7 · 2020: 12 · 2019: 13 · 2018: 6 · 2017: 4 · 2016: 12 · 2015: 9 · 2014: 8 · 2013: 6 · 2012: 2
- FWCI
- 3.65
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- IEEE Aerospace Conference (AERO) (publishedVersion)
- Topics
- Physical Sciences › Engineering › Aerospace Engineering › Space Satellite Systems and Control
- Physical Sciences › Engineering › Aerospace Engineering › Spacecraft Dynamics and Control
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Advanced Vision and Imaging
- Keywords
- relative pose estimation, autonomous rendezvous, spacecraft docking, visual object tracking, stereo vision, proximity operations, attitude estimation, range estimation
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