Relative Position Measurement with Color Markers for On-Orbit Servicing

In recent years, the importance of on-orbit servicing—which includes inspection, equipment replacement, and propellant refueling—has been increasing to enable the long-term and stable operation of satellites. To perform these tasks safely and efficiently, it is essential to estimate the relative position and attitude of the target object with high accuracy and low computational cost. This paper proposes a lightweight image processing algorithm that utilizes color markers for efficient pose estimation. The effectiveness of the proposed method is demonstrated through experiments involving relative position and attitude estimation based on color marker detection.