Keyvan Kanani

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In the context of autonomous rendezvous and space debris removal, visual model-based tracking can be particularly suited. Some classical methods achieve the tracking by relying on the alignment of projected lines of the 3D model with edges detected in the image. However, processing complete 3D models of complex objects, of any shape, presents several(More)
For a space rendezvous mission, autonomy imposes stringent performance requirements regarding navigation. For the final phase, a vision-based navigation can be a solution. A 3D model-based tracking algorithm has been studied and tested on a mock-up of a telecommunication satellite, using a 6-DOF robotic arm, with satisfactory results, in terms of precision(More)
— This paper focuses on the issue of estimating the complete 3D pose of the camera with respect to a complex object, in a potentially highly dynamic scene, through model-based tracking. We propose to robustly combine complementary geometrical edge and point features with color based features in the minimization process. A Kalman filtering and pose(More)
This paper presents a method to address the issue of augmenting a markerless 3D object with a complex shape. It relies on a model-based tracker which takes advantage of GPU acceleration and 3D rendering in order to handle the complete 3D model, whose sharp edges are efficiently extracted. In the pose estimation step, we propose to robustly combine(More)
This paper focuses on the issue of estimating the complete 3D pose of the camera with respect to a potentially textureless object, through model-based tracking. We propose to robustly combine complementary geometrical and color edge-based features in the minimization process, and to integrate a multiple-hypotheses framework in the geometrical edge-based(More)
This work analyses and solves for issues encountered when retrieving surface emissivity in LWIR (750 to 1250 cm(-1)) and MWIR (2000 to 3500 cm(-1)) bands under outdoor conditions. The Spectral Smoothness method, which takes advantage of high spectral resolution measurements to solve for temperature emissivity separation, and which has already proven its(More)
This paper focuses on navigation issues for space autonomous , uncooperative rendezvous with targets such as satellites, space vehicles or debris. In order to fully localize , using a vision sensor, a chaser spacecraft with respect to a target spacecraft or debris, a visual model-based detection and tracking technique is proposed. Our tracking approach(More)
This paper addresses the challenge of detecting and localizing a poorly textured known object, by initially estimating its complete 3D pose in a video sequence. Our solution relies on the 3D model of the object and synthetic views. The full pose estimation process is then based on foreground/background segmentation and on an efficient probabilistic(More)
This paper focuses on the issue of estimating the complete 3D pose of the camera with respect to a complex object, in a potentially highly dynamic scene, through model-based tracking. We propose to robustly combine complementary geometrical edge and point features with color based features in the minimization process. A Kalman filtering and pose prediction(More)
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