Keyvan Kanani

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— 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(More)
— 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)
— 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 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)
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