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Real-Time 3D Vision Solution for On-Orbit Autonomous Rendezvous Docking

机译：用于在轨自主交会对接的实时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开发了一种视觉系统，用于捕获轨道上的非合作物体。该系统使用有源TriDAR传感器和基于模型的跟踪算法，从中程到对接实时提供6个自由度姿势信息。选择该系统用于哈勃机器人飞行轨道模块（HRVDM）任务和详细测试目标（DTO）任务，以在航天飞机上飞行。 TriDAR（三角测量+ LIDAR）技术通过在相同的光路中结合三角测量和飞行时间（ToF）主动测距技术，利用了一种新颖的3D感应方法。这种方法利用了这些传感技术的互补性。使用Neptec与加拿大航天局（CSA）合作开发的基于3D模型的跟踪算法，可以完成对目标物体的实时跟踪。该系统提供6个自由度的姿势估计，并结合了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执行姿势估计。这种性能使算法可以在TriDAR的飞行认证嵌入式处理器上实时运行。本文提供了仿真和实验室测试的结果，证明该系统的性能满足用于轨道自动会合和对接的完整跟踪系统的要求。

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