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Shadow-based matching for robust absolute localization during lunar landings

Kaufmann, Hannah (2014) Shadow-based matching for robust absolute localization during lunar landings. Master's. DLR-Interner Bericht. DLR-IB 572-2014/02, 128 S.

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Abstract

The exploration of the moon can give insights to the evolution and history of the solar system. Future lunar exploration missions require autonomous, safe and precise landings close to scientific spots of interest. Currently the German Aerospace Center (DLR, ger.:Deutsches Zentrum für Luft- und Raumfahrt) investigates several optical localization methods and the fusion of their results within the project ATON (Autonomous Terrain based Optical Navigation system). This shall allow precise landing in a region of a couple of hundred meters around a designated landing site. This thesis investigates an image-based, monocular method for precise position estimation during lunar landings. It is especially designed for the last phase until touchdown, which is still challenging. The image taken by the spacecraft during the descent is matched with an image of the same scene, which is preprocessed prior on earth. The position can be estimated from the correlation of both images. To correlate both images, the shadows seen in the two images, are matched. The proposed method is evaluated in software simulation. It is shown, that the method has the potential to precisely estimate the position during lunar landings, especially during the last landing phase until touchdown. The method is mostly invariant to sun angle variations and relatively large perspective differences between the images.

Item URL in elib:https://elib.dlr.de/104214/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Shadow-based matching for robust absolute localization during lunar landings
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Kaufmann, Hannahhannah.kaufmann (at) dlr.deUNSPECIFIED
Date:27 January 2014
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:128
Status:Published
Keywords:lunar landing, mono camera, matching, shadow, autonomous
Institution:Technische Universität Berlin
Department:Faculty IV - Electrical Engineering and Computer Science - Department of Computer Engineering and Microelectronics - Computer Vision and Remote Sensing Laboratory
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Lingenauber, Martin
Deposited On:09 May 2016 09:19
Last Modified:31 Jul 2019 20:01

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