Calibrazione metrologica di un sistema di visione per la misura di posizione e assetto relativi di un satellite

A vision based instrument able to measure the position and orientation of a spacecraft is described and tested. The instrument comprises a simple camera which observes the external surface of the satellite provided with fiducial markers and a software procedure which employs a closed-form and direct solution of the Perspective from three Points problem. The procedure is also improved in a RANSAC scheme before a non-linear optimization