An algorithm is developed for estimating the motion (relative attitude and relative position) of large pieces of space debris, such as failed satellites. The algorithm is designed to be used by a debris-removal space robot that would perform six degree-of-freedom control (control its position and attitude simultaneously). The information required as feedback signals for such a controller is relative-position, velocity, attitude and angular velocity-and these are expected to be measured or estimated from image data. The algorithm uses a combination of stereo vision and three-dimensional model matching, applying the iterative closest point algorithm and uses time series of images to increase the reliability of estimates. To evaluate the algorithm, a simulator is prepared to simulate the on-orbit optical environment in terrestrial experiments, and the motion of a miniature satellite model is estimated using images obtained from the simulator.
展开▼
