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An innovative approach to automatic "soft" docking of a spacecraft with a space station (or with another spacecraft) is proposed, using a computer vision system where a camera is rigidly fixed to the spacecraft as a position and orientation measurement device. The emphasis in this paper is on the spacecraft guidance and control loops, which make use of position and orientation estimates...
A new computer vision based method for estimating the position and orientation of a spacecraft (camera) relative to a fixed mark on the space station in three-dimensions is developed. This method represents an extension of our previous work where orientation estimation was not considered: the requirement to maintain the axial axis of the camera pointed at the center of the mark on the space station,...
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