Visual Tracking and Motion Estimation for an On-orbit Servicing of a Satellite

This thesis addresses visual tracking of a non-cooperative as well as a partially cooperative satellite, to enable close-range rendezvous between a servicer and a target satellite. Visual tracking and estimation of relative motion between a servicer and a target satellite are critical abilities for rendezvous and proximity operation such as repairing and deorbiting. For this purpose, Lidar has been widely employed in cooperative rendezvous and docking missions. Despite its robustness to harsh space illumination, Lidar has high weight and rotating parts and consumes more power, thus undermines the stringent requirements of a satellite design. On the other hand, inexpensive on-board cameras can provide an effective solution, working at a wide range of distances. However, conditions of space lighting are particularly challenging for image based tracking algorithms, because of the direct sunlight exposure, and due to the glossy surface of the satellite that creates strong reflection and image saturation, which leads to difficulties in tracking procedures. In order to address these difficulties, the relevant literature is examined in the fields of computer vision, and satellite rendezvous and docking. Two classes of problems are identified and relevant solutions, implemented on a standard computer are provided. Firstly, in the absence of a geometric model of the satellite, the thesis presents a robust feature-based method with prediction capability in case of insufficient features, relying on a point-wise motion model. Secondly, we employ a robust model-based hierarchical position localization method to handle change of image features along a range of distances, and localize an attitude-controlled (partially cooperative) satellite. Moreover, the thesis presents a pose tracking method addressing ambiguities in edge-matching, and a pose detection algorithm based on appearance model learning. For the validation of the methods, real camera images and ground truth data, generated with a laboratory tet bed similar to space conditions are used. The experimental results indicate that camera based methods provide robust and accurate tracking for the approach of malfunctioning satellites in spite of the difficulties associated with specularities and direct sunlight. Also exceptional lighting conditions associated to the sun angle are discussed, aimed at achieving fully reliable localization system in a certain mission

Intelligent Sensors for Human Motion Analysis

The book, "Intelligent Sensors for Human Motion Analysis," contains 17 articles published in the Special Issue of the Sensors journal. These articles deal with many aspects related to the analysis of human movement. New techniques and methods for pose estimation, gait recognition, and fall detection have been proposed and verified. Some of them will trigger further research, and some may become the backbone of commercial systems

The role of visual adaptation in cichlid fish speciation

D. Shane Wright (1) , Ole Seehausen (2), Ton G.G. Groothuis (1), Martine E. Maan (1) (1) University of Groningen; GELIFES; EGDB(2) Department of Fish Ecology & Evolution, EAWAG Centre for Ecology, Evolution and Biogeochemistry, Kastanienbaum AND Institute of Ecology and Evolution, Aquatic Ecology, University of Bern.In less than 15,000 years, Lake Victoria cichlid fishes have radiated into as many as 500 different species. Ecological and sexual sel ection are thought to contribute to this ongoing speciation process, but genetic differentiation remains low. However, recent work in visual pigment genes, opsins, has shown more diversity. Unlike neighboring Lakes Malawi and Tanganyika, Lake Victoria is highly turbid, resulting in a long wavelength shift in the light spectrum with increasing depth, providing an environmental gradient for exploring divergent coevolution in sensory systems and colour signals via sensory drive. Pundamilia pundamila and Pundamilia nyererei are two sympatric species found at rocky islands across southern portions of Lake Victoria, differing in male colouration and the depth they reside. Previous work has shown species differentiation in colour discrimination, corresponding to divergent female preferences for conspecific male colouration. A mechanistic link between colour vision and preference would provide a rapid route to reproductive isolation between divergently adapting populations. This link is tested by experimental manip ulation of colour vision - raising both species and their hybrids under light conditions mimicking shallow and deep habitats. We quantify the expression of retinal opsins and test behaviours important for speciation: mate choice, habitat preference, and fo raging performance