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PMD Camera- and Hand-Eye-Calibration for On-Orbit Servicing Test Scenarios on the Ground

Klionovska, Ksenia and Benninghoff, Heike and Strobl, Klaus H. (2017) PMD Camera- and Hand-Eye-Calibration for On-Orbit Servicing Test Scenarios on the Ground. 14th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 20.-22. Juni 2017, Scheltema, Leiden, the Netherlands.

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Abstract

In this paper we present the ability to intrinsically and extrinsically calibrate a Time-of-Flight sensor, namely, a Photonic Mixer Device (PMD) camera, using the DLR CalDe and DLR CalLab camera calibration toolbox. This camera is intended as a visual sensor for pose estimation in the close rendezvous phase during future On-Orbit servicing. In order to test and verify the pose estimation algorithms on the ground, we conduct different rendezvous scenarios using the European Proximity Operation Simulator. It is necessary to accurately know intrinsic parameters like the focal length, the principal point, and the distortion parameters, as well as the extrinsic parameters, i.e., the position and orientation of the PMD camera relating to the mounting board, whenever it is fixed on the robot and involved in the process of target pose estimation. In this work we differentiate from state-of-the-art approaches for the calibration of PMD cameras in this context by making use of the motion of the mounting robotic manipulator alone, i.e., without the need for accurate positioning of the target calibration plate by a second robotic manipulator.

Item URL in elib:https://elib.dlr.de/113058/
Document Type:Conference or Workshop Item (Poster)
Title:PMD Camera- and Hand-Eye-Calibration for On-Orbit Servicing Test Scenarios on the Ground
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Klionovska, Kseniamunich aerospace, dlrUNSPECIFIED
Benninghoff, HeikedlrUNSPECIFIED
Strobl, Klaus H.klaus.strobl (at) dlr.deUNSPECIFIED
Date:June 2017
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:calibration, PMD camera, visual Navigation, on-orbit servicing
Event Title:14th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA)
Event Location:Scheltema, Leiden, the Netherlands
Event Type:international Conference
Event Dates:20.-22. Juni 2017
Organizer:ESA
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 - Projekt OOS-E2E
Location: Oberpfaffenhofen
Institutes and Institutions:Space Operations and Astronaut Training > Space Flight Technology
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Benninghoff, Heike
Deposited On:10 Jul 2017 15:37
Last Modified:31 Jul 2019 20:10

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