robotics Article Metrological Characterization of a Vision-Based System for Relative Pose Measurements with Fiducial Marker Mapping for Spacecrafts Marco Pertile 1,2,* ID , Sebastiano Chiodini 1 ID , Riccardo Giubilato 1 ID , Mattia Mazzucato 1, Andrea Valmorbida 2, Alberto Fornaser 3, Stefano ...