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

Gangtao Hao; Xiaoping Du; Hang Chen; Jianjun Song; Tengfei Gao

doi:10.1117/1.OE.54.5.053112

13 May 2015 Scale-unambiguous relative pose estimation of space uncooperative targets based on the fusion of three-dimensional time-of-flight camera and monocular camera

Gangtao Hao, Xiaoping Du, Hang Chen, Jianjun Song, Tengfei Gao

Author Affiliations +

Optical Engineering, Vol. 54, Issue 5, 053112 (May 2015). https://doi.org/10.1117/1.OE.54.5.053112

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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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," Optical Engineering 54(5), 053112 (13 May 2015). https://doi.org/10.1117/1.OE.54.5.053112

Published: 13 May 2015

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