Title :
Model based pose estimation for autonomous operations in space
Author :
Jasiobedzki, Piotr ; Abraham, Mark ; Newhook, Perry ; Talbot, Jimmy
Author_Institution :
MacDonald Dettwiler Space & Adv. Robotics, Brampton, Canada
Abstract :
Presents a method for determining the 3D pose of a known object with the intent of autonomously controlling space hardware systems. Operations of interest include satellite on-orbit servicing and orbit transfer. Using a specially designed, adaptable vision server, stereo images are acquired and edge data is extracted. Corresponding points are found in the left and right edge data and 3D information is computed. This 3D data is then registered to a model of the object in such a way as to minimize the distance between the two data sets. Once the model is aligned with the data, the full 3D pose of the object is known; this information can then be used by a robot controller to compute a path to the object. The process runs continuously, giving the controller up-to-date information. Experimental results presented in this paper show the capabilities and robustness of the system
Keywords :
aerospace computing; aerospace control; artificial satellites; edge detection; image registration; minimisation; path planning; robot vision; stereo image processing; 3D data registration; adaptable vision server; autonomous space operations; corresponding points; data set distance minimization; edge data extraction; model-based pose estimation; orbit transfer; path planning; robot controller; robustness; satellite on-orbit servicing; space hardware systems control; stereo image acquisition; Control systems; Data mining; Hardware; Robot control; Robustness; Satellites;
Conference_Titel :
Information Intelligence and Systems, 1999. Proceedings. 1999 International Conference on
Conference_Location :
Bethesda, MD
Print_ISBN :
0-7695-0446-9
DOI :
10.1109/ICIIS.1999.810263
