Mr. Liang Hu Profile

Liang Hu

at Univ of Chinese Academy of Sciences

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Proceedings Article | 24 November 2021 Paper

Pose estimation of non-cooperative target based on depth image

Dianqi Sun, Haodong Pei, Huixian Duan, Liang Hu

Proceedings Volume 12061, 120610B (2021) https://doi.org/10.1117/12.2602309

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The precondition of clearing space non-cooperative targets is to obtain the relative position and attitude of space noncooperative target. In this paper, a new pose estimation method based on the geometric features in the depth image is proposed to obtain the relative position and attitude of the space non-cooperative target. The proposed method detects the docking ring and other geometric features of various payloads in the depth image of time-of-flight (TOF) camera, and then converts the detected image into a smaller point cloud utilizing the TOF camera parameters. Finally, we register the filtered point cloud of every two frames with Iterative Closest Point (ICP) method and calculate the rotation and translation matrix. The experimental results verifies that the proposed method can estimate the relative position and attitude with less errors and calculation, which meets the requirement of on-orbit service.

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