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Klionovska, Ksenia und Rems, Florian und Renaut, Leo Tullio Richard und Burri, Matthias (2021) Close Range Approach and Fly-around with LiDAR in On-Orbit Servicing Missions. Stardust-R – Second Global Virtual Workshop, 2021-09-13 - 2021-09-17, virtuell.
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Kurzfassung
This paper presents a visual navigation method with a Livox Mid-40 LiDAR sensor for OOS Rendezvous GNC software development. It is crucially important to know the relative pose of a space object in order to approach it. Simple model-free 3D pose estimation based on centroid estimation of the point cloud is applied. The proposed technique shows robust and stable tracking of the non-cooperative target. Moreover, we are able to provide an inspection phase beforehand. Closed-loop tests at the EPOS laboratory showed favorable results.
| elib-URL des Eintrags: | https://elib.dlr.de/146453/ | ||||||||||||||||||||
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| Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
| Titel: | Close Range Approach and Fly-around with LiDAR in On-Orbit Servicing Missions | ||||||||||||||||||||
| Autoren: |
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| Datum: | 2021 | ||||||||||||||||||||
| Referierte Publikation: | Nein | ||||||||||||||||||||
| Open Access: | Nein | ||||||||||||||||||||
| Gold Open Access: | Nein | ||||||||||||||||||||
| In SCOPUS: | Nein | ||||||||||||||||||||
| In ISI Web of Science: | Nein | ||||||||||||||||||||
| Status: | veröffentlicht | ||||||||||||||||||||
| Stichwörter: | OOS missions, LiDAR, visual navigation, rendezvous | ||||||||||||||||||||
| Veranstaltungstitel: | Stardust-R – Second Global Virtual Workshop | ||||||||||||||||||||
| Veranstaltungsort: | virtuell | ||||||||||||||||||||
| Veranstaltungsart: | Workshop | ||||||||||||||||||||
| Veranstaltungsbeginn: | 13 September 2021 | ||||||||||||||||||||
| Veranstaltungsende: | 17 September 2021 | ||||||||||||||||||||
| Veranstalter : | DLR | ||||||||||||||||||||
| HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
| HGF - Programm: | Raumfahrt | ||||||||||||||||||||
| HGF - Programmthema: | Robotik | ||||||||||||||||||||
| DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
| DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||
| DLR - Teilgebiet (Projekt, Vorhaben): | R - RICADOS++ [RO] | ||||||||||||||||||||
| Standort: | Oberpfaffenhofen | ||||||||||||||||||||
| Institute & Einrichtungen: | Raumflugbetrieb und Astronautentraining > Raumflugtechnologie | ||||||||||||||||||||
| Hinterlegt von: | Klionovska, Ksenia | ||||||||||||||||||||
| Hinterlegt am: | 06 Dez 2021 11:41 | ||||||||||||||||||||
| Letzte Änderung: | 24 Apr 2024 20:45 |
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