This paper proposes several enhancements to the softPOSIT algorithm with applications to spacecraft pose estimation using a monocular camera. First, the proposed enhancements include a technique for reducing false matches as result of local minimum trapping. Second, this paper provides two strategies for iteration control parameter initialization by using the trace of the correspondence distance, and by using image centroid matching. The method of image centroid matching allows the world model center of geometry to align with the image centroid. The alignment result in reasonable correspondence weighting values used for match optimization. The various algorithm enhancements were tested on 26,180 simulations with varying geometries and initial pose conditions. Results show a significant increase in accuracy when compared with the original method.

Additional Metadata
Persistent URL dx.doi.org/10.1109/MMAR.2016.7575083
Conference 21st International Conference on Methods and Models in Automation and Robotics, MMAR 2016
Citation
Shi, J.-F. (Jian-Feng), & Ulrich, S. (2016). SoftPOSIT enhancements for monocular camera spacecraft pose estimation. In 2016 21st International Conference on Methods and Models in Automation and Robotics, MMAR 2016 (pp. 30–35). doi:10.1109/MMAR.2016.7575083