کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
1714421 | 1519944 | 2015 | 11 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Uncooperative pose estimation with a LIDAR-based system
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی هوافضا
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Uncooperative pose estimation with a LIDAR-based system Uncooperative pose estimation with a LIDAR-based system](/preview/png/1714421.png)
چکیده انگلیسی
This paper aims at investigating the performance of a LIDAR-based system for pose determination of uncooperative targets. This problem is relevant to both debris removal and on-orbit servicing missions, and requires the adoption of suitable electro-optical sensors on board of a chaser platform, as well as model-based techniques for target detection and pose estimation. In this paper, a three dimensional approach is pursued in which the point cloud generated by a LIDAR is exploited for pose estimation. Specifically, the condition of close proximity flight to a large debris is considered, in which the relative motion determines a large variation of debris appearance and coverage in the sensor field of view, thus producing challenging conditions for pose estimation. A customized three dimensional Template Matching approach is proposed for fast and reliable pose initial acquisition, while pose tracking is carried out with an Iterative Closest Point algorithm exploiting different measurement-model matching techniques. Specific solutions are envisaged to speed algorithm convergence and limit the size of the point clouds used for pose initial acquisition and tracking to allow autonomous on-board operation. To investigate proposed approach effectiveness and achievable pose accuracy, a numerical simulation environment is developed implementing realistic debris geometry, debris-chaser close-proximity flight, and sensor operation. Results demonstrate algorithm capability of operating with sparse point clouds and large pose variations, while achieving sub-degree and sub-centimeter accuracy in relative attitude and position, respectively.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Acta Astronautica - Volume 110, MayâJune 2015, Pages 287-297
Journal: Acta Astronautica - Volume 110, MayâJune 2015, Pages 287-297
نویسندگان
Roberto Opromolla, Giancarmine Fasano, Giancarlo Rufino, Michele Grassi,