Computationally Efficient Iterative Pose Estimation for Space Robot Based on Vision

Figure 3

Rotation errors against a number of feature points. FPE denotes the proposed Fast Pose Estimation algorithm, OI means Lu’s orthogonal iterative algorithm, TS is Zhang’s two stage algorithm, L-M represents the Levenberg-Marquardt method, and the classic linear method is denoted as Linear. The same abbreviations are applied to the figures below too.