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Proceedings Paper

Methods of RVD object pose estimation and experiments
Author(s): Yang Shang; Yan He; Weihua Wang; Qifeng Yu
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Paper Abstract

Methods of measuring a RVD (rendezvous and docking) cooperative object's pose from monocular and binocular images respectively are presented. The methods solve the initial values first and optimize the object pose parameters by bundle adjustment. In the disturbance-rejecting binocular method, chosen measurement system parameters of one camera's exterior parameters are modified simultaneously. The methods need three or more cooperative target points to measure the object's pose accurately. Experimental data show that the methods converge quickly and stably, provide accurate results and do not need accurate initial values. Even when the chosen measurement system parameters are subjected to some amount of disturbance, the binocular method manages to provide fairly accurate results.

Paper Details

Date Published: 10 November 2007
PDF: 5 pages
Proc. SPIE 6795, Second International Conference on Space Information Technology, 67951P (10 November 2007); doi: 10.1117/12.773980
Show Author Affiliations
Yang Shang, National Univ. of Defense Technology (China)
Yan He, National Univ. of Defense Technology (China)
Weihua Wang, National Univ. of Defense Technology (China)
Qifeng Yu, National Univ. of Defense Technology (China)


Published in SPIE Proceedings Vol. 6795:
Second International Conference on Space Information Technology

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