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More Accurate Pose Initialization with Redundant Measurements

Klionovska, Ksenia and Benninghoff, Heike and Huber, Felix (2019) More Accurate Pose Initialization with Redundant Measurements. 14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, 25.-27.2.2019, Prag, Tschechische Republik.

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Official URL: https://www.scitepress.org/PublicationsDetail.aspx?ID=VZJsYlzuNAE=&t=1


The problem described in this paper concerns the problem of initial pose estimation of a non-cooperative target for space applications. We propose to use a Photonic Mixer Device (PMD) sensor in a close range for the visual navigation in order to estimate position and attitude of the space object. The advantage of the ranging PMD sensor is that it provides two different sources of data: depth and amplitude information of the imaging scene. In this work we make use of it and propose a follow-up initial pose improvement technique with the amplitude images from PMD sensor. It means that we primary calculate the pose of the target with the depth image and then correct the pose to get more accurate result. The algorithm is tested for the set of images in the range 8 to 4.9 meters. The obtained results have shown the evident improvement of the initial pose after correction with the proposed technique.

Item URL in elib:https://elib.dlr.de/133540/
Document Type:Conference or Workshop Item (Speech)
Title:More Accurate Pose Initialization with Redundant Measurements
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Klionovska, Kseniamunich aerospace, dlrUNSPECIFIED
Benninghoff, HeikeHeike.Benninghoff (at) dlr.dehttps://orcid.org/0000-0003-0836-9171
Huber, FelixF.Huber (at) dlr.deUNSPECIFIED
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:Photonic Mixer Device (PMD) Sensor, 3D-2D Pose Estimation, Hough Line Transform
Event Title:14th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications
Event Location:Prag, Tschechische Republik
Event Type:international Conference
Event Dates:25.-27.2.2019
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Projekt OOS-E2E (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Space Operations and Astronaut Training
Deposited By: Benninghoff, Heike
Deposited On:21 Jan 2020 17:02
Last Modified:21 Jan 2020 17:02

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