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Experimental Analysis of Measurements Fusion for Pose Estimation Using PMD Sensor

Klionovska, Ksenia and Benninghoff, Heike and Risse, Eicke-Alexander and Huber, Felix (2018) Experimental Analysis of Measurements Fusion for Pose Estimation Using PMD Sensor. 23rd Iberoamerican Congress on Pattern Recognition, 19.-22. Nov. 2018, Madrid, Spanien. (In Press)

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Abstract

This article presents the experimental investigation of the fusion concept of two relative position and orientation estimates of the target using single Photonic Mixer Device (PMD) sensor for the frame-to-frame tracking. For each frame PMD sensor provides co-registered depth and amplitude images of the scene. We propose to use two different pose estimation techniques for each of the data channel with a further fusion of its measured state vectors. The fusion architecture of the state measurements is based on a low complexity weighted average algorithm. The weights for the fusion operator are calculated experimentally with the real data from PMD sensor mounted on DLR's European Proximity Operations Simulator. The fused state vector obtained with experimental results outperforms the accuracy of the two incoming state measurements. This allows us to ensure robust pose estimation of a tumbling target for the whole tracking.

Item URL in elib:https://elib.dlr.de/124020/
Document Type:Conference or Workshop Item (Speech)
Title:Experimental Analysis of Measurements Fusion for Pose Estimation Using PMD Sensor
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Klionovska, Kseniamunich aerospace, dlrUNSPECIFIED
Benninghoff, HeikeDLRUNSPECIFIED
Risse, Eicke-AlexanderdlrUNSPECIFIED
Huber, FelixF.Huber (at) dlr.deUNSPECIFIED
Date:2018
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:In Press
Keywords:Photonic Mixer Device Kamera, PMD, Navigation, Pose Estimation, Tracking, On-Orbit Servicing
Event Title:23rd Iberoamerican Congress on Pattern Recognition
Event Location:Madrid, Spanien
Event Type:international Conference
Event Dates:19.-22. Nov. 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 - Projekt OOS-E2E
Location: Oberpfaffenhofen
Institutes and Institutions:Space Operations and Astronaut Training > Space Flight Technology
Deposited By: Benninghoff, Heike
Deposited On:06 Dec 2018 09:46
Last Modified:06 Dec 2018 09:46

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