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A Common Data Fusion Framework For Space Robotics: Architecture And Data Fusion Methods

Domínguez, Raúl and Michalec, Romain and Oumer, Nassir W. and Souvannavong, Fabrice and Post, Mark and Govindaraj, Shashank and Fabisch, Alexander and Wehbe, Bilal and Gancet, Jérémi and Bianco, Alessandro and Lacroix, Simon and De Maio, Andrea and Labourey, Quentin and Bissonnette, Vincent and Smíek, Michal and Yan, Xiu (2018) A Common Data Fusion Framework For Space Robotics: Architecture And Data Fusion Methods. ESA. 14th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS-2018), 4-6 June, Madrid, Spain.

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Official URL: https://robotics.estec.esa.int/i-SAIRAS/isairas2018/Papers/Session%209c/1_Dominguez-58-93-Dominguez-Raul.pdf

Abstract

Data fusion algorithms make it possible to combine data from different sensors into symbolic representations such as environment maps, object models, and position estimates. The software community in space robotics lacks a comprehensive software framework to fuse and contextually store data from multiple sensors while also making it easier to develop, evaluate, and compare algorithms. The InFuse consortium, six partners in the industrial and academic space sector working under the supervision of a Program Support Activity (PSA) consisting of representatives from ESA, ASI, CDTI, CNES, DLR, UKSA, is developing such a framework, complete with a set of data fusion implementations based on state-of-the-art perception, localization and mapping algorithms, and performance metrics to evaluate them. This paper describes the architecture of this Common Data Fusion Framework and overviews the data fusion methods that it will provide for tasks such as localisation, mapping, environment reconstruction, object detection and tracking.

Item URL in elib:https://elib.dlr.de/132237/
Document Type:Conference or Workshop Item (Speech)
Title:A Common Data Fusion Framework For Space Robotics: Architecture And Data Fusion Methods
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Domínguez, RaúlDFKIUNSPECIFIED
Michalec, RomainUniversity of StrathclydeUNSPECIFIED
Oumer, Nassir W.DLRUNSPECIFIED
Souvannavong, FabriceMageliumUNSPECIFIED
Post, MarkUniversity of StrathclydeUNSPECIFIED
Govindaraj, ShashankSpace ApplicationsUNSPECIFIED
Fabisch, AlexanderDFKIUNSPECIFIED
Wehbe, BilalDFKIUNSPECIFIED
Gancet, JérémiSpace ApplicationsUNSPECIFIED
Bianco, AlessandroUniversity of StrathclydeUNSPECIFIED
Lacroix, SimonLAAS-CNRSUNSPECIFIED
De Maio, AndreaLAAS-CNRSUNSPECIFIED
Labourey, QuentinLAAS-CNRSUNSPECIFIED
Bissonnette, VincentMageliumUNSPECIFIED
Smíek, MichalDLRUNSPECIFIED
Yan, XiuUniversity of StrathclydeUNSPECIFIED
Date:2018
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Publisher:ESA
Status:Published
Keywords:InFuse, Framework, DataFusion, Robotics, Sensor Fusion, orbital, planetary
Event Title:14th International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS-2018)
Event Location:Madrid, Spain
Event Type:international Conference
Event Dates:4-6 June
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: Oumer, Nassir
Deposited On:17 Dec 2019 09:20
Last Modified:17 Dec 2019 09:20

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