Börner, Anko und Irmisch, Patrick und Ernst, Ines und Baumbach, Dirk (2018) Cameras for navigation and 3D modelling on planetary exploration missions. International Workshop on Planetary Missions, 2018-09-12 - 2018-09-14, Berlin, Deutschland.
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Kurzfassung
Mobile exploration systems on planetary missions require technologies for navigation and 3D modelling. Both are mandatory prerequisites for any interaction in an unknown environment. Since GNSS will not be available, technical alternatives have to be developed. In this paper, a sensor system will be introduced which contains a stereo camera and an inertial measurement unit. Data of both sensors are fused to achieve a precise 6DoF ego-pose in real-time. Image data can be processed to depth maps optionally. Trajectories and 3D models are essential for path planning of the robots, for identification of scientific regions of interest and for spatial referencing of the scientific payload data. The paper gives an overview about the technology, the approaches for navigation and 3D modelling, an end-to-end software simulator and a planet like test campaign.
elib-URL des Eintrags: | https://elib.dlr.de/122688/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | Cameras for navigation and 3D modelling on planetary exploration missions | ||||||||||||||||||||
Autoren: |
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Datum: | 2018 | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Planetary Exploration, camera, visual odometry | ||||||||||||||||||||
Veranstaltungstitel: | International Workshop on Planetary Missions | ||||||||||||||||||||
Veranstaltungsort: | Berlin, Deutschland | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 12 September 2018 | ||||||||||||||||||||
Veranstaltungsende: | 14 September 2018 | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Projekt MOREX [SY] | ||||||||||||||||||||
Standort: | Berlin-Adlershof | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Optische Sensorsysteme > Echtzeit-Datenprozessierung | ||||||||||||||||||||
Hinterlegt von: | Börner, Anko | ||||||||||||||||||||
Hinterlegt am: | 15 Nov 2018 13:49 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:26 |
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