%0 Conference Proceedings
%F Petit12a
%A Petit, A.
%A Marchand, E.
%A Kanani, K.
%T Vision-based Detection and Tracking for Space Navigation in a Rendezvous Context
%B Int. Symp. on Artificial Intelligence, Robotics and Automation in Space, i-SAIRAS
%C Torino, Italia
%X This paper focuses on navigation issues for space au- tonomous, uncooperative rendezvous with targets such as satellites, space vehicles or debris. In order to fully local- ize, using a vision sensor, a chaser spacecraft with respect to a target spacecraft or debris, a visual model-based de- tection and tracking technique is proposed. Our track- ing approach processes complete 3D models of complex objects, of any shape by taking advantage of GPU ac- celeration. From the rendered model, correspondences are found with image edges and the pose estimation task is then addressed as a nonlinear minimization. For de- tection, which initializes the tracking, pose estimation is based on foreground/background segmentation and on an efficient contour matching procedure with synthetic views, over a few initial images. Our methods have been evaluated on both synthetic images and real images
%U http://www.irisa.fr/lagadic/pdf/2012_isairas_petit.pdf
%8 September
%D 2012