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Real-time 3D vision solution for on-orbit autonomous rendezvous and docking

机译：用于轨道自主集合和对接的实时3D视觉解决方案

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Neptec has developed a vision system for the capture of non-cooperative objects on orbit. This system uses an active TriDAR sensor and a model based tracking algorithm to provide 6 degree of freedom pose information in real-time from mid range to docking. This system was selected for the Hubble Robotic Vehicle De-orbit Module (HRVDM) mission and for a Detailed Test Objective (DTO) mission to fly on the Space Shuttle. TriDAR (triangulation + LIDAR) technology makes use of a novel approach to 3D sensing by combining triangulation and Time-of-Flight (ToF) active ranging techniques in the same optical path. This approach exploits the complementary nature of these sensing technologies. Real-time tracking of target objects is accomplished using 3D model based tracking algorithms developed at Neptec in partnership with the Canadian Space Agency (CSA). The system provides 6 degrees of freedom pose estimation and incorporates search capabilities to initiate and recover tracking. Pose estimation is performed using an innovative approach that is faster than traditional techniques. This performance allows the algorithms to operate in real-time on the TriDAR's flight certified embedded processor. This paper presents results from simulation and lab testing demonstrating that the system's performance meets the requirements of a complete tracking system for on-orbit autonomous rendezvous and docking.
机译：Neptec开发了一种捕获轨道上非合作对象的视觉系统。该系统使用活动的Tridar传感器和基于模型的跟踪算法，从中间范围到对接时，实时提供6度自由信息。选择该系统为哈勃机器人车辆去轨模块（HRVDM）任务，并进行详细的测试目标（DTO）使命，以便在航天飞机上飞行。 Tridar（三角测量+ LIDAR）技术通过在同一光路中结合三角测量和飞行时间（TOF）有源测距技术来利用新的3D感测方法。这种方法利用这些传感技术的互补性质。目标对象的实时跟踪是使用Neptec在与加拿大空间局（CSA）合作的基于3D模型的跟踪算法完成。该系统提供6度自由姿势估计，并包含搜索功能以启动和恢复跟踪。使用比传统技术更快的创新方法进行姿态估计。这种性能允许算法在Tridar的航班认证的嵌入式处理器上实时运行。本文介绍了仿真和实验室测试的结果，表明系统的性能符合完整跟踪系统，用于轨道自主集合和对接的完整跟踪系统。

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