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.)

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