Pose determination in close proximity is critical for space missions in which monocular vision is one of the most promising solutions. Although numerous approaches such as using artificial beacons or specific shapes on spacecrafts have proved to be effective, the high individuation and the large time delay limit their use in low impact docking. This paper proposes a unified framework to determinate the relative pose between two docking mechanisms by treating their guide petals as measurement objects. Fusing the pose information of one docking mechanism to simplify image processing and creating an intermediate coordinate system to solve the perspective-n-point problem greatly improve the real-time performance and the robustness of the method. Experimental results show that the position measurement error is within 3.7 mm, while the rotation error around docking direction is less than 0.16°, corresponding to a measurement time reduction of 85%.
Monocular Vision-Based Pose Determination in Close Proximity for Low Impact Docking
