Imaging Components, Systems, and Processing

Scale-unambiguous relative pose estimation of space uncooperative targets based on the fusion of three-dimensional time-of-flight camera and monocular camera

[+] Author Affiliations
Gangtao Hao, Xiaoping Du, Hang Chen, Tengfei Gao

Academy of Equipment, No. 171, Mailbox 3380, Huairou District, Beijing 101416, China

Jianjun Song

95806 Troops, 6 East Jingbei Road, Fengtai District, Beijing 100076, China

Opt. Eng. 54(5), 053112 (May 13, 2015). doi:10.1117/1.OE.54.5.053112
History: Received November 24, 2014; Accepted April 16, 2015
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Abstract.  An approach of scale-unambiguous relative pose estimation for space uncooperative targets based on the fusion of low resolution three-dimensional time-of-flight camera and monocular camera is proposed. No a priori knowledge about the targets is assumed. First, a modified range–intensity Markov random field model is presented to quickly reconstruct the range value for each feature point. Second, the scale-ambiguous relative pose estimation algorithm based on extended Kalman filter–unscented Kalman filter–particle filter combination filter is designed in vision simultaneous localization and mapping framework. Third, the overall scale factor estimation approach based on range–intensity fusion image, which takes the feature points’ range reconstruction uncertainty as measurement noise, is proposed for the final scale-unambiguous pose estimation. Finally, some simulations demonstrate the validity and capability of the proposed approach.

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© 2015 Society of Photo-Optical Instrumentation Engineers

Citation

Gangtao Hao ; Xiaoping Du ; Hang Chen ; Jianjun Song and Tengfei Gao
"Scale-unambiguous relative pose estimation of space uncooperative targets based on the fusion of three-dimensional time-of-flight camera and monocular camera", Opt. Eng. 54(5), 053112 (May 13, 2015). ; http://dx.doi.org/10.1117/1.OE.54.5.053112


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