unfortunately they are slower than real-time. A method 
combining contour algorithms and Kalman filter shows a good 
balance of robustness and speed. 
Before applying the proposed methods to real data, the 
algorithms were tested on several synthetic video records that 
were generated for various lighting condition and dynamic 
trajectories. The results presented show that the method can be 
used for algorithmic support of automatic space ship docking. A 
less detailed 3D representation and/or the usage of several 
LODs (levels of detail) depending on the distance to the ISS 
should improve the speed and accuracy of the tracking. In order 
to estimate the parameters of movement of the space cargo ship 
relative to the ISS in a more reliable way, it is highly desirable 
to use values provided by the ship navigation system. The issue 
of the best combination of various algorithms in the course of 
object tracking for real on-board video recording requires 
additional research. 
References from Journals: 
Geusebroek, J.-M., Smeulders, A.W.M., van de Weijer, J., 
2003. Fast anisotropic Gauss filtering. IEEE Transactions on 
Image Processing, 12, pp. 938-943. 
Lepetit, V., Fua, P., 2005. Monocular model-based 3D tracking 
of rigid objects: a survey. Foundations and Trends in Computer 
Graphics and Vision, 1, pp. 1-89. 
Lowe, D.G., 1991. Fitting parameterized three-dimensional 
models to images. [EEE Transactions on Pattern Analysis and 
Machine Intelligence, 13, pp. 441-450. 
References from Other Literature: 
Calonder, M., Lepetit, V., Strecha, C., Fua, P., 2010. BRIEF: 
Binary Robust Independent Elementary Features, Proceedings 
of the 11th European Conference on Computer Vision (ECCV), 
pp. 778-792. 
Vacchetti, L., Lepetit, V., Fua P., 2004. Combining edge and 
texture information for real-time accurate 3D camera tracking. 
Proceedings of the International Symposium on Mixed and 
Augmented Reality (ISMAR), pp. 48-57. 
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