Fig. 1. Coordinate system diagram

Fig. 2. Camera calibration results. (a) Initial image; (b) result of dot extraction

Fig. 3. Turning points of segmental arc. (a) Curvature at A₃ is large; (b) direction of curvature at A₃ is changed

Fig. 4. Relative position of segmental arcs. (a) Searching area; (b) the same direction; (c) the opposite direction; (d) the face-to-face

Fig. 5. Docking ring detection process. (a) Original image; (b) edge arc; (c) arc segmentation; (d) ellipse fitting; (e) cluster verification; (f) result

Fig. 6. Detection process of connector. (a) Original image; (b) binary image connected component detection; (c) morphological operation; (d) area filtering; (e) aspect ratio filtering; (f) fill degree filtering

Fig. 7. Satellite model of non-cooperative target spacecraft

Fig. 8. Ground verification system diagram

Fig. 9. Pose information of satellite model in test 1 with our method. (a) Relative position of X-axis; (b) relative position of Y-axis; (c) relative position of Z-axis; (d) rotational Euler angle α of X-axis; (e) rotational Euler angle β of Y-axis; (f) rotational Euler angle γ of Z-axis

Fig. 10. Pose information of satellite model in test 1 with ORB method. (a) Pose information of three axis; (b) rotational Euler angles of three axis