Jason-1 Satellite 6D Pose Estimation

6-Degrees-of-Freedom (6D) object pose estimation

This repository implements a computer vision pipeline to accurately determine the 3D position and 3D orientation of the JASON1 satellite from 2D image data. The core of the solution relies on the classic Perspective-n-Point (PnP) algorithm and Blender generated synthetic database images.

🌟 Features

• Full 6D Pose Estimation: Calculates the (x,y,z) translation and the full 3D rotation (e.g., as a rotation matrix or Euler angles) of the object.

• Perspective-n-Point (PnP) Implementation: Utilizes the PnP algorithm for efficient and accurate pose estimation based on correspondences between known 3D object points and their 2D image projections.

---

🛠️ Prerequisites

Ensure you have Python 3.x installed on your system.

---

🚀 Installation and Setup

Follow these steps to get the project running locally:

1. Clone the repository:

   git clone https://github.com/dluksa20/jason1_6d_pose_estimation.git
   cd jason1_6d_pose_estimation
   

2. Create and activate a virtual environment:

   python3 -m venv venv
   source venv/bin/activate  # macOS/Linux
   # .\\venv\\Scripts\\activate  # Windows (PowerShell)
   

3. Install the required dependencies: .

   pip install -r requirements.txt
   

---

💡 Usage

The primary script for executing the pose estimation pipeline is main.py.

Running the Estimation

To run the pose estimation process, execute the main script:

Bash

python main.py

Note: You will likely need to ensure the database/ directory contains the required 3D model data and camera calibration parameters for the JASON1 object before running the script successfully.

---

📂 Project Structure

File/Folder	Description
main.py	The entry point for the application. It handles image loading, calling the pose estimation functions, and visualization.
PosePnP.py	Contains the core function for computing the 6D pose using the PnP algorithm, including input preparation and output formatting.
requirements.txt	Lists all necessary Python libraries for the project.
database/	for storing database images 3D points, camera intrinsic parameters, and ground-truth data.
scripts/	Contains supplementary scripts, potentially for data generation, pre-processing, or evaluation.

Export to Sheets

---

🤝 Contributing

Contributions are highly welcome! If you find a bug, have an idea for a new feature, or want to improve the existing code (e.g., adding RANSAC for robustness, or improving documentation), please:

1. Fork the repository.

2. Create a new feature branch.

3. Commit your changes.

4. Open a Pull Request.