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

R. Mukundan and K.R. Ramakrishnan

Mathematics and Computers in Simulation (MATCOM), 1995, vol. 39, issue 1, 143-153

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.

Keywords: Attitude estimation; Computer vision; Image processing; Quaternions; Rendezvous and Docking Simulations (search for similar items in EconPapers)
Date: 1995
References: View complete reference list from CitEc
Citations:

Downloads: (external link)
http://www.sciencedirect.com/science/article/pii/037847549500028V
Full text for ScienceDirect subscribers only

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:eee:matcom:v:39:y:1995:i:1:p:143-153

DOI: 10.1016/0378-4754(95)00028-V

Access Statistics for this article

Mathematics and Computers in Simulation (MATCOM) is currently edited by Robert Beauwens

More articles in Mathematics and Computers in Simulation (MATCOM) from Elsevier
Bibliographic data for series maintained by Catherine Liu ().