Advanced Techniques for Spacecraft Motion Estimation Using PMD Sensors

Several machine vision based techniques have been developed in the past to estimate relative motions and pose among spacecrafts and to assist them in Rendezvous and Docking maneuvers. These techniques have typically relied on stereo vision for range information and image processing techniques primarily for object and pattern recognition and their tracking among the others. Development of state-of-the-art 3D imaging sensors such as PMD sensor based cameras opened up possibilities for new and innovative techniques in the field of machine vision. This paper presents an innovative approach for estimating the relative position and pose of a spacecraft by combining the strengths of a proven edge detection algorithm with the advantages of using a 3D imager in real-time machine vision applications.