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

Mukundana, R and Ramakrishnan, KR (1995) A quaternion solution to the pose determination problem for rendezvous and docking simulations. In: Mathematics and Computers in Simulation, 39 (1-2). pp. 143-153.

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Abstract

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.

Item Type:	Journal Article
Publication:	Mathematics and Computers in Simulation
Publisher:	Elsevier
Additional Information:	Copyright belongs to Elsevier.
Keywords:	Attitude estimation;Computer vision;Image processing;Quaternions;Rendezvous and Docking Simulations.
Department/Centre:	Division of Electrical Sciences > Electrical Engineering
Date Deposited:	13 Jun 2008
Last Modified:	19 Sep 2010 04:45
URI:	http://eprints.iisc.ac.in/id/eprint/14323

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