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Cameras for navigation and 3D modelling on planetary exploration missions

Börner, Anko and Irmisch, Patrick and Ernst, Ines and Baumbach, Dirk (2018) Cameras for navigation and 3D modelling on planetary exploration missions. International Workshop on Planetary Missions, 12.-14.9.2018, Berlin, Deutschland.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/122688/
Document Type:Conference or Workshop Item (Speech)
Title:Cameras for navigation and 3D modelling on planetary exploration missions
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Börner, AnkoAnko.Boerner (at) dlr.deUNSPECIFIED
Irmisch, PatrickPatrick.Irmisch (at) dlr.deUNSPECIFIED
Ernst, InesInes.Ernst (at) dlr.deUNSPECIFIED
Baumbach, DirkDirk.Baumbach (at) dlr.deUNSPECIFIED
Date:2018
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Planetary Exploration, camera, visual odometry
Event Title:International Workshop on Planetary Missions
Event Location:Berlin, Deutschland
Event Type:international Conference
Event Dates:12.-14.9.2018
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 - Project Morex
Location: Berlin-Adlershof
Institutes and Institutions:Institute of Optical Sensor Systems > Real-Time Data Processing
Deposited By: Börner, Anko
Deposited On:15 Nov 2018 13:49
Last Modified:31 Jul 2019 20:20

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