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Optical Engineering

Scale-unambiguous relative pose estimation of space uncooperative targets based on the fusion of three-dimensional time-of-flight camera and monocular camera
Author(s): Gangtao Hao; Xiaoping Du; Hang Chen; Jianjun Song; Tengfei Gao
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Paper Abstract

An approach of scale-unambiguous relative pose estimation for space uncooperative targets based on the fusion of low resolution three-dimensional time-of-flight camera and monocular camera is proposed. No <italic<a priori</italic< knowledge about the targets is assumed. First, a modified range–intensity Markov random field model is presented to quickly reconstruct the range value for each feature point. Second, the scale-ambiguous relative pose estimation algorithm based on extended Kalman filter–unscented Kalman filter–particle filter combination filter is designed in vision simultaneous localization and mapping framework. Third, the overall scale factor estimation approach based on range–intensity fusion image, which takes the feature points’ range reconstruction uncertainty as measurement noise, is proposed for the final scale-unambiguous pose estimation. Finally, some simulations demonstrate the validity and capability of the proposed approach.

Paper Details

Date Published: 13 May 2015
PDF: 12 pages
Opt. Eng. 54(5) 053112 doi: 10.1117/1.OE.54.5.053112
Published in: Optical Engineering Volume 54, Issue 5
Show Author Affiliations
Gangtao Hao, The Academy of Equipment Command & Technology (China)
Xiaoping Du, The Academy of Equipment Command & Technology (China)
Hang Chen, The Academy of Equipment Command & Technology (China)
Jianjun Song, 95806 Troops (China)
Tengfei Gao, The Academy of Equipment Command & Technology (China)


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