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Review of the robustness and applicability of monocular pose estimation systems for relative navigation with an uncooperative spacecraft
Progress in Aerospace Sciences ( IF 9.6 ) Pub Date : 2019-10-01 , DOI: 10.1016/j.paerosci.2019.05.008
Lorenzo Pasqualetto Cassinis , Robert Fonod , Eberhard Gill

Abstract The relative pose estimation of an inactive target by an active servicer spacecraft is a critical task in the design of current and planned space missions, due to its relevance for close-proximity operations, i.e. the rendezvous with a space debris and/or in-orbit servicing. Pose estimation systems based solely on a monocular camera are recently becoming an attractive alternative to systems based on active sensors or stereo cameras, due to their reduced mass, power consumption and system complexity. In this framework, a review of the robustness and applicability of monocular systems for the pose estimation of an uncooperative spacecraft is provided. Special focus is put on the advantages of multispectral monocular systems as well as on the improved robustness of novel image processing schemes and pose estimation solvers. The limitations and drawbacks of the validation of current pose estimation schemes with synthetic images are further discussed, together with the critical trade-offs for the selection of visual-based navigation filters. The state-of-the-art techniques are analyzed in order to provide an insight into the limitations involved under adverse illumination and orbit scenarios, high image contrast, background noise, and low signal-to-noise ratio, which characterize actual space imagery, and which could jeopardize the image processing algorithms and affect the pose estimation accuracy as well as the navigation filter's robustness. Specifically, a comparative assessment of current solutions is given at different levels of the pose estimation process, in order to bring a novel and broad perspective as compared to previous works.

中文翻译:

非合作航天器相对导航单目姿态估计系统的鲁棒性和适用性综述

摘要 由现役服务航天器对非活动目标进行的相对姿态估计是当前和计划中的太空任务设计中的一项关键任务,因为它与近距离操作相关,即与空间碎片会合和/或在-轨道服务。由于质量、功耗和系统复杂性的降低,仅基于单目相机的姿态估计系统最近正成为基于有源传感器或立体相机的系统的有吸引力的替代方案。在此框架中,提供了对单目系统在不合作航天器姿态估计中的稳健性和适用性的审查。特别关注多光谱单目系统的优势以及新型图像处理方案和姿态估计求解器的改进鲁棒性。进一步讨论了使用合成图像验证当前姿势估计方案的局限性和缺点,以及选择基于视觉的导航过滤器的关键权衡。分析了最先进的技术,以便深入了解不利照明和轨道场景、高图像对比度、背景噪声和低信噪比下所涉及的限制,这些限制是实际空间图像的特征,这可能会危及图像处理算法,影响姿态估计精度以及导航滤波器的鲁棒性。具体而言,在姿势估计过程的不同级别给出了当前解决方案的比较评估,以便与以前的工作相比,带来新颖而广阔的视角。
更新日期:2019-10-01
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