Heihachiro Kamimura

Motion Estimation to a Failed Satellite on Orbit using Stereo Vision and 3D Model Matching

An algorithm is developed for estimating the motion (relative attitude and relative position) of large pieces of space debris, such as failed satellites. The algorithm is designed to be used by a debris removal system which would perform various operations on space debris such as observation, investigation, capture, repair, refuel and de-orbit. During these operations, the debris removal system must control its position and attitude simultaneously. Such six degree-of-freedom control becomes more difficult if the failed satellite is changing attitude, such as by nutation. The information required as feedback signals for such a controller is relative - position, velocity, attitude and angular velocity - and these are expected to be measured or estimated from image data. The algorithm uses a combination of stereo vision and 3D model matching, applying the ICP (iterative closest point) algorithm, and uses time series of images to increase the reliability of the relative attitude and position estimates. To evaluate the algorithm, a visual simulator is prepared to simulate the on-orbit optical environment in terrestrial experiments, and the motion of a miniature satellite model is estimated using images obtained from the simulator

Preliminary experiments on technologies for satellite orbital maintenance using Micro-LabSat 1

For maturation of space activities, not only developing and using space systems is important, but also performing maintenance on them in their orbital environment is necessary in order to use them efficiently. The Communications Research Laboratory (CRL) has been studying an orbital maintenance system (OMS), specifically an on-orbit satellite maintenance system. An important first step is the capability to autonomously recognize and rendezvous with a target satellite. The CRL developed a microprocessor multi-chip module to control the OMS, including its robotic system and image processing, and installed it on Micro-LabSat for a mission called Micro-OLIVe (MicroLabSat was developed by NASDA and launched in 2002 together with the environment observation technology satellite ADEOS-II). In this paper, we describe the OMS concept, our experimental system and results of the Micro-OLIVe experiments. These experiments aimed at using the microprocessor multi-chip module to control the OMS, its camera units that use conventional C-MOS digital still cameras and its software used for flexible image processing.

Evaluation of attitude measurement using a color marker

Color marker employed in conjunction with space robots for on-orbit assembly has been developed. The marker consists of three printed discs with different colors. When used for on-orbit assembly, markers will be attached at the proximity of the connection mechanisms of assembly segment for large space structures. The distance and attitude of the segments can be measured by the positional relationship between the color discs of the marker. From the evaluation test, it has been verified that the performance of the measuring system with the color markers can meet the requirement of the space robot arms.

Terrestrial experiments for the motion estimation of a large space debris object using image data

An algorithm is developed for estimating the motion (relative attitude and relative position) of large pieces of space debris, such as failed satellites. This algorithm is designed to be used by a debris removal system which would perform various operations on space debris such as observation, investigation, capture, repair, refuel and de-orbit. The algorithm uses a combination of stereo vision and 3D model matching, applying the ICP (Iterative Closest Point) algorithm, and uses time series of images to increase the reliability of relative attitude and position estimates. To evaluate the algorithm, a visual simulator is prepared to simulate the on-orbit optical environment in terrestrial experiments, and the motion of a miniature satellite model is estimated using images obtained from this simulator.