Adaptive Relative Pose Estimation Framework with Dual Noise Tuning for Safe Approaching Maneuvers

ArXi:2507.16214v3 Announce Type: replace-cross Accurate and robust relative pose estimation is crucial for enabling challenging Active Debris Removal (ADR) missions targeting tumbling derelict satellites such as ESA's ENVISAT. This work presents a complete pipeline integrating advanced computer vision techniques with adaptive nonlinear filtering to address this challenge. A Convolutional Neural Network (CNN), enhanced with image preprocessing, detects structural markers (corners) from chaser imagery, whose 2D coordinates are converted to 3D measurements using camera modeling.