Global Descriptors for Visual Pose Estimation of a Non-Cooperative Target in Space Rendezvous
Résumé
This paper proposes methods based on global descriptors to estimate the pose of a known object
using a monocular camera, in the context of space rendezvous between an autonomous spacecraft and
a non-cooperative target. These methods estimate the pose by detection, i.e., they require no prior
information about the pose of the observed object, making them suitable for initial pose acquisition and
the monitoring of faults in other on-board estimators. An approach is presented to fully retrieve the
object’s pose using a pre-computed set of invariants and geometric moments. Three classes of global
invariant features are analyzed, based on complex moments, Zernike moments and Fourier descriptors.
The robustness of the different invariants is tested under various conditions and their performance is
discussed and compared. The method offers a fast and robust solution for pose estimation by detection,
with a low computational complexity that is compatible with space-qualified processors.
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