Pose and Shape Reconstruction of a Noncooperative Spacecraft Using Camera and Range Measurements

<div>Representation of the target and the tracked points at <svg height="11.1049pt" id="M100" style="vertical-align:-3.29108pt" version="1.1" viewbox="-0.0498162 -7.81382 9.43046 11.1049" width="9.43046pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M324 430H196L233 583L223 592L145 529L120 430H54L29 396L31 388H111L56 126C33 15 54 -12 77 -12C137 -12 214 57 250 95L233 119C208 92 155 59 138 59C126 59 120 70 131 125L186 390L298 394L324 430Z" id="g113-117"></path></g><g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"><path d="M245 635C92 635 37 457 37 312C37 149 91 -12 244 -12C395 -12 449 166 449 312C449 469 395 635 245 635ZM243 598C332 598 358 454 358 312C358 173 334 26 245 26C158 26 128 174 128 313S152 598 243 598Z" id="g50-49"></path></g></svg>. The axes <svg height="9.25658pt" id="M101" style="vertical-align:-3.295671pt" version="1.1" viewbox="-0.0498162 -5.96091 32.772 9.25658" width="32.772pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M536 404C536 423 520 448 491 448C445 448 398 404 308 283L286 338C255 416 242 448 217 448C182 448 138 402 92 341L111 321C149 368 169 378 178 378C188 378 198 363 214 320L254 212C185 117 138 65 107 65C98 65 85 69 82 75C79 82 73 86 65 86C44 86 23 60 23 39C23 7 44 -12 71 -12C119 -12 168 33 265 177L306 61C321 17 347 -12 373 -12C413 -12 465 33 507 96L491 119C459 84 432 60 413 60C395 60 378 92 358 148L321 250C341 279 369 310 389 332C417 363 439 382 456 382C466 382 475 376 481 368C486 361 492 358 496 358C513 358 536 381 536 404Z" id="g113-121"></path></g><g transform="matrix(.0091,0,0,-0.0091,7.202,3.132)"><path d="M384 354C435 370 515 408 515 502C515 549 494 593 459 616C426 639 384 650 308 650H45V618C127 613 130 606 130 524V127C130 45 125 38 37 33V0H262C342 0 409 12 461 40C521 73 558 124 558 192C558 295 481 336 384 352V354ZM217 365V556C217 587 221 597 229 604C238 611 261 615 288 615C382 615 421 558 421 490C421 406 374 365 266 365H217ZM217 327H264C384 327 457 284 457 183C457 80 383 38 301 38C235 38 217 55 217 127V327Z" id="g58-64"></path></g><g transform="matrix(.0091,0,0,-0.0091,12.826,3.132)"><path d="M387 665C175 665 46 498 46 318C46 123 194 -15 374 -15C558 -15 712 114 712 333C712 535 557 665 387 665ZM364 625C495 625 607 518 607 306C607 115 505 25 396 25C256 25 151 161 151 346C151 532 255 625 364 625Z" id="g58-77"></path></g><g transform="matrix(.0091,0,0,-0.0091,19.651,3.132)"><path d="M43 650V617C122 612 130 606 130 522V128C130 44 122 37 34 32V0H275C400 0 497 25 573 82C652 142 698 229 698 350C698 445 662 518 613 565C549 625 456 650 327 650H43ZM217 544C217 580 220 591 229 599C240 607 264 613 311 613C380 613 437 599 482 570C561 523 598 436 598 336C598 177 511 40 324 40C248 40 217 61 217 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transform="matrix(.013,0,0,-0.013,0,0)"><path d="M475 445L452 468C423 436 401 426 385 426S352 427 305 436C268 443 216 448 185 448C156 448 128 425 102 382C89 360 77 338 64 304L89 291C117 340 143 380 190 380C214 380 268 376 295 373C320 370 344 371 362 374L70 101C32 65 23 36 23 18C23 5 27 -3 31 -8C36 -8 39 -6 42 -1C52 15 67 31 80 40S110 49 143 33C195 8 257 -20 290 -20C339 -20 382 11 439 129L416 148C366 74 334 55 305 55C278 55 236 68 203 81C169 94 141 100 122 96C205 170 348 308 411 376L475 445Z" id="g113-123"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.149,3.132)"><path d="M384 354C435 370 515 408 515 502C515 549 494 593 459 616C426 639 384 650 308 650H45V618C127 613 130 606 130 524V127C130 45 125 38 37 33V0H262C342 0 409 12 461 40C521 73 558 124 558 192C558 295 481 336 384 352V354ZM217 365V556C217 587 221 597 229 604C238 611 261 615 288 615C382 615 421 558 421 490C421 406 374 365 266 365H217ZM217 327H264C384 327 457 284 457 183C457 80 383 38 301 38C235 38 217 55 217 127V327Z" id="g58-64"></path></g><g transform="matrix(.0091,0,0,-0.0091,11.774,3.132)"><path d="M387 665C175 665 46 498 46 318C46 123 194 -15 374 -15C558 -15 712 114 712 333C712 535 557 665 387 665ZM364 625C495 625 607 518 607 306C607 115 505 25 396 25C256 25 151 161 151 346C151 532 255 625 364 625Z" id="g58-77"></path></g><g transform="matrix(.0091,0,0,-0.0091,18.598,3.132)"><path d="M43 650V617C122 612 130 606 130 522V128C130 44 122 37 34 32V0H275C400 0 497 25 573 82C652 142 698 229 698 350C698 445 662 518 613 565C549 625 456 650 327 650H43ZM217 544C217 580 220 591 229 599C240 607 264 613 311 613C380 613 437 599 482 570C561 523 598 436 598 336C598 177 511 40 324 40C248 40 217 61 217 135V544Z" id="g58-66"></path></g><g transform="matrix(.0091,0,0,-0.0091,25.095,3.132)"><path d="M631 650H403V617C483 609 484 601 462 552C433 492 382 399 345 333C302 408 253 486 212 562C194 596 189 609 262 617V650H18V617C80 612 90 599 131 534C184 445 219 381 258 316C275 286 279 276 279 257V127C279 44 272 37 180 32V0H469V32C373 37 366 45 366 127V261C366 286 369 297 382 321C430 409 465 465 507 534C547 599 561 609 631 617V650Z" id="g58-87"></path></g></svg> identify the BDRF, which coincides with BPRF. The 12 tracked points are circled in red.</div>

International Journal of Aerospace Engineering

fig5

Figure 5

Figure 5: Pose and Shape Reconstruction of a Noncooperative Spacecraft Using Camera and Range Measurements 