Vision Technologies for Small Body Proximity Operations

We present a framework for use of computer vision technologies to localize a spacecraft during small body (comets and asteroids) proximity operations. Our approach is to first detect image-based landmarks at stand-off distance during a mission survey phase, then catalog these landmarks into an easily referenced database, and finally use the cataloged data to recognize the landmarks during proximity operations. The catalog includes 3D body relative coordinates for the landmarks, so that image derived bearing angles to the landmarks enable localization of the spacecraft. In this paper, we describe our method of landmark detection and recognition, the details of the landmark catalog including estimation of 3D body-relative landmark locations, and our approach to vision-based estimation of spacecraft pose (position and attitude). We validate our research using real data from the JAXA MUSES-C mission and the NASA Deep Impact and NEAR missions as well as through detailed simulations.