Science Links Japan | Vision-based 3D relative position and attitude measurement experiment by a camera on ETS-VII robot manipulator-application to vision-based relative navigation system.

Vision-based 3D relative position and attitude measurement experiment by a camera on ETS-VII robot manipulator-application to vision-based relative navigation system.

Accession number;00A0150771

Title;Vision-based 3D relative position and attitude measurement experiment by a camera on ETS-VII robot manipulator-application to vision-based relative navigation system.

Author;KIMURA SHIN'ICHI(Commun. Rese. Lab.) TSUCHIYA SHIGERU(Commun. Rese. Lab.) KITO KATSUMI(Mitsubishi Heavy Ind., Ltd.) ABE NAOHIKO(Commun. Rese. Lab.) MIMOCHI KEIICHI(Mitsubishi Heavy Ind., Ltd.) MIYAWAKI KAZUMICHI(Mitsubishi Heavy Ind., Ltd.)

Journal Title;Proceedings of the Space Sciences and Technology Conference

Journal Code:S0277A

ISSN:

VOL.43rd;NO.;PAGE.95-100(1999)

Figure&Table&Reference;FIG.9, TBL.2, REF.4

Pub. Country;Japan

Language;Japanese

Abstract;In the future remote inspection mission of service vehicles on orbit, the method to detect the relative position and attitude from the service vehicle to a target spacecraft with failures and without any artificial markers is the key technology for the service vehicle to approach and fly around a target spacecraft. In this paper, a method to detect the relative 3-D position and attitude of a target spacecraft by using the camera images is proposed. To ensure the usefulness of the proposed method, 3-D relative position measurement accuracy in the real on-orbit environment was checked by using images of a target(Antenna Assembling Module) which were taken from various view points by the camera at the tip of the robot arm with 6 degree of freedom on NASDA's engineering test satellite, ETS-VII. (author abst.)