Sphere detection and tracking for a space capturing operation

Capture mechanisms are used to transfer objects between two vehicles in the space with no physical contact. A sphere (canister) detection and tracking method using an enhanced Hough transform technique and H_infin filter is proposed. The presented system aims to assist in the capture operation, currently investigated the European Space Agency and other partners, and to be used in space missions as an alternative to docking or berthing operations. Test results show the robustness and reliability of the proposed method. They also demonstrate the low computational and memory complexities needed.