Rectangular Natural Feature Recognition and Pose Measurement Method for Non-Cooperative Spacecraft

Accurately estimating the pose of spacecraft is indispensable for space applications. However, such targets are generally non-cooperative, i.e., no markers are mounted on them, and they include no parts for operation. Therefore, the detection and measurement of a non-cooperative target is very challenging. Stereovision sensors are important solutions in the near field. In this paper, a rectangular natural feature recognition and pose measurement method for non-cooperative spacecraft is proposed. Solar panels of spacecraft were selected as detection objects, and their image features were captured via stereo vision. These rectangle features were then reconstructed in 3D Cartesian space through parallelogram fitting on the image planes of two cameras. The vertexes of rectangle features were detected and used to solve the pose of a non-cooperative target. An experimental system was built to validate the effectiveness of the algorithm. The experimental results show that the average position measurement error of the algorithm is about 10 mm and the average attitude measurement error is less than 1 degrees. The results also show that the proposed method achieves high accuracy and efficiency.