Benutzer: Gast  Login
Titel:

Fast Initial Pose Estimation of Spacecraft from LiDAR Point Cloud Data

Dokumenttyp:
Konferenzbeitrag
Autor(en):
Rems, Florian; Moreno González, Juan Antonio; Boge, Toralf; Tuttas, Sebastian; Stilla, Uwe
Abstract:
Advanced mission concepts like On-Orbit Servicing or Active Space Debris Removal require reliable relative navigation to a possibly uncooperative target. As optical navigation sensors, 3D-LiDAR scanners provide a threedimensional point cloud of the target. For 6-DOF pose estimation, the tracker algorithm must be provided with an initial pose. This paper presents the prototype of a pose initialization algorithm tailored for the boundary conditions of spacecraft relative navigation. Test results b...     »
Stichworte:
spacecraft relative navigation; pose estimation; lidar.
Kongress- / Buchtitel:
13th Symposium on Advanced Space Technologies in Robotics and Automation
Jahr:
2015
WWW:
http://robotics.estec.esa.int/ASTRA/Astra2015/Papers/Session 6B/97270_Rems.pdf
 BibTeX