Author:
Nassir W. Oumer
Affiliation:
German Aerospace Center, Germany
Keyword(s):
Specular Surface, Pose Tracking, Feature Tracking, Model-based Tracking, On-orbit Satellite Servicing.
Related
Ontology
Subjects/Areas/Topics:
Applications
;
Computer Vision, Visualization and Computer Graphics
;
Motion, Tracking and Stereo Vision
;
Optical Flow and Motion Analyses
;
Pattern Recognition
;
Robotics
;
Software Engineering
;
Tracking and Visual Navigation
Abstract:
A space object such as a satellite consists of highly specular surface, and when exposed to directional source of light, it is very difficult for visual tracking. However, camera-based tracking provides an inexpensive solution to the problem of on-orbit servicing of a satellite, such as orbital-life extension by repairing and refuelling, and debris removal. In this paper we present a real time pose tracking method applied to a such object under direct Sunlight, by adapting keypoint and edge-based approach, with known simple geometry. The implemented algorithm is relatively accurate and robust to specular reflection. We show the results which are based on real images from a simulation system of on-orbit servicing, consisting of two six degree of freedom robots, the Sun simulator and a full scale satellite mock-up.