A quaternion solution to the pose determination problem for rendezvous and docking simulations

✍ Scribed by R. Mukundan; K.R. Ramakrishnan

• Book ID: 103897740
• Publisher: Elsevier Science
• Year: 1995
• Tongue: English
• Weight: 569 KB
• Volume: 39
• Category: Article
• ISSN: 0378-4754
• DOI: 10.1016/0378-4754(95)00028-v

✦ Synopsis

This paper presents the mathematical framework for the attitude and position estimation of an object from its image using three point correspondence information. A closed-form solution for the pose determination problem is derived by representing the relative attitude parameters using quaternions. The quaternion elements can be used to model the outputs of a vision sensor in attitude control simulations for the final approach phase of a rendezvous and docking mission. The algorithm has been validated with real images of a scaled model of the target features in a vision system test facility. Simulation results showing the comparison between the actual and estimated pose parameters are included.