Non-Cooperative Spacecraft Pose Measurement with Binocular Camera and TOF Camera Collaboration

Non-cooperative spacecraft pose acquisition is a challenge in on-orbit service (OOS), especially for targets with unknown structures. A method the measurement of non-cooperative spacecrafts based on collaboration binocular and time-of-flight (TOF) cameras proposed this study. The joint calibration carried out to obtain transformation matrix from left camera coordinate system TOF system. initial mainly divided into feature point association relative motion estimation. value key information generated stereo vision are yielded refine iterative closest (ICP) frame-to-frame registration. final determined through eliminating cumulative error keyframes cloud process. experimental results demonstrate that able track target during aerospace missions, which may provide certain reference navigation systems.