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.

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

Published in SPIE Proceedings Vol. 6795:
Second International Conference on Space Information Technology
Cheng Wang; Shan Zhong; Jiaolong Wei, Editor(s)