A Model-Based 3D Template Matching Technique for Pose Acquisition of an Uncooperative Space Object

@inproceedings{Opromolla2015AM3,
  title={A Model-Based 3D Template Matching Technique for Pose Acquisition of an Uncooperative Space Object},
  author={Roberto Opromolla and Giancarmine Fasano and Giancarlo Rufino and Michele Grassi},
  booktitle={Sensors},
  year={2015}
}
This paper presents a customized three-dimensional template matching technique for autonomous pose determination of uncooperative targets. This topic is relevant to advanced space applications, like active debris removal and on-orbit servicing. The proposed technique is model-based and produces estimates of the target pose without any prior pose information, by processing three-dimensional point clouds provided by a LIDAR. These estimates are then used to initialize a pose tracking algorithm… CONTINUE READING