This paper presents a method of estimating the pose of a non-cooperative target for spacecraft rendezvous applications employing exclusively a monocular camera and a threedimensional model of the target. This model is used to build an offline database of prerendered keyframes with known poses. An online stage solves the model-to-image registration problem by matching two-dimensional point and edge features from the camera to the database. We apply our method to retrieve the motion of the now

more »

... perational satellite ENVISAT. The combination of both feature types is shown to produce a robust pose solution even for large displacements respective to the keyframes which does not rely on real-time rendering, making it attractive for autonomous systems applications.