On-orbit pose and angular velocity estimation

The problem of estimating relative pose and angular velocity for uncooperative space objects using camera images has garnered great interest, especially within applications such as asteroid mapping and satellite servicing. This report consists of two parts which address the aforementioned problem: (1) the development of a relative pose estimation and filtering pipeline for the NASA Seeker cubesat program, and (2) the theoretical development of a batch estimator based on relative orientation measurements to estimate not only the angular velocity magnitude and spin-axis direction of a target body, but also the accompanying uncertainty bounds for the resulting spin-axis direction estimate under reasonable assumptions.