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Robotics 2018, 7(3), 43; https://doi.org/10.3390/robotics7030043

Metrological Characterization of a Vision-Based System for Relative Pose Measurements with Fiducial Marker Mapping for Spacecrafts

1
CISAS “G. Colombo”, University of Padova, 35131 Padova, Italy
2
Industrial Engineering Department, University of Padova, 35131 Padova, Italy
3
Industrial Engineering Department, University of Trento, 38123 Povo (TN), Italy
*
Author to whom correspondence should be addressed.
Received: 13 June 2018 / Revised: 2 August 2018 / Accepted: 6 August 2018 / Published: 14 August 2018
(This article belongs to the Special Issue Simultaneous Location and Mapping (SLAM) Focused on Mobile Robotics)

Abstract

An improved approach for the measurement of the relative pose between a target and a chaser spacecraft is presented. The selected method is based on a single camera, which can be mounted on the chaser, and a plurality of fiducial markers, which can be mounted on the external surface of the target. The measurement procedure comprises of a closed-form solution of the Perspective from n Points (PnP) problem, a RANdom SAmple Consensus (RANSAC) procedure, a non-linear local optimization and a global Bundle Adjustment refinement of the marker map and relative poses. A metrological characterization of the measurement system is performed using an experimental set-up that can impose rotations combined with a linear translation and can measure them. The rotation and position measurement errors are calculated with reference instrumentations and their uncertainties are evaluated by the Monte Carlo method. The experimental laboratory tests highlight the significant improvements provided by the Bundle Adjustment refinement. Moreover, a set of possible influencing physical parameters are defined and their correlations with the rotation and position errors and uncertainties are analyzed. Using both numerical quantitative correlation coefficients and qualitative graphical representations, the most significant parameters for the final measurement errors and uncertainties are determined. The obtained results give clear indications and advice for the design of future measurement systems and for the selection of the marker positioning on a satellite surface. View Full-Text
Keywords: vision system; pose measurement; uncertainty evaluation; metrological calibration vision system; pose measurement; uncertainty evaluation; metrological calibration
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
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Pertile, M.; Chiodini, S.; Giubilato, R.; Mazzucato, M.; Valmorbida, A.; Fornaser, A.; Debei, S.; Lorenzini, E.C. Metrological Characterization of a Vision-Based System for Relative Pose Measurements with Fiducial Marker Mapping for Spacecrafts. Robotics 2018, 7, 43.

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