Fig. 1. Fake ellipses generated by shadows (red dotted line), ellipses generated by projection of SOR (red solid line), and other ellipses (green solid line)

Fig. 2. Coordinate systems and their transformation

Fig. 3. Vertical constraint

Fig. 4. (a) Four space circles of SOR; (b) imaging of the space circle; (c) image with four random ellipses as well as 8% salt and pepper noise

Fig. 5. Examples of simulation (blue) and classification results (red) for synthetic images

Fig. 6. Pose estimation error as a function of distance. (a) Error of angle; (b) error of translation

Fig. 7. (a) Experimental system; (b) satellite mockup

Fig. 8. Real images and classification results

Fig. 9. Pose estimation error as a function of distance. (a) Error of angle; (b) error of translation

Fig. 10. Estimation errors of pose angles. (a) Pitch angle; (b) yaw angle