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Vision-based navigation for autonomous space rendezvous with non-cooperative targets

Comellini, Anthea and Zenou, Emmanuel and Espinosa, Christine and Dubanchet, Vincent Vision-based navigation for autonomous space rendezvous with non-cooperative targets. (2020) In: The 11th International Conference on Information, Intelligence, Systems and Applications (IISA2020), 15 July 2020 - 17 July 2020 (Piraeus, Greece).

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Official URL: https://ieeexplore.ieee.org/document/9284383

Abstract

This study addresses the issue of vision-based navigation for space rendezvous with non-cooperative targets. After a brief description of the scenario and its peculiarities, the theory underlying monocular edges-based tracking for pose estimation is recalled and an innovative tracking algorithm is formally developed and implemented. This algorithm is coupled with a dynamic Kalman Filter propagating the dynamics which underlies a space rendezvous. The navigation filter increases the robustness of target position and attitude estimation, and allows the estimation of target translational velocity and rotation rate using only pose measurements. Moreover, the filter implements a computationally efficient delay management technique that allows merging the delayed and infrequent measurements typical of vision-based navigation. The performance of the algorithm is tested in different scenarios with high fidelity synthetic images.

Item Type:Conference or Workshop Item (Paper)
Additional Information:Thanks to the IEEE (Institute of Electrical and Electronics Engineers). This paper is available at : https://ieeexplore.ieee.org/document/9284383 “© 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Audience (conference):International conference proceedings
Uncontrolled Keywords:
Institution:French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Université de Toulouse > Ecole nationale supérieure des Mines d'Albi-Carmaux - IMT Mines Albi (FRANCE)
Université de Toulouse > Institut National des Sciences Appliquées de Toulouse - INSA (FRANCE)
Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
Other partners > Thales (FRANCE)
Université de Toulouse > Université Toulouse III - Paul Sabatier - UT3 (FRANCE)
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Deposited On:27 Aug 2020 12:22

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