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Klionovska, Ksenia and Rems, Florian and Renaut, Leo Tullio Richard and 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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Abstract
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.
| Item URL in elib: | https://elib.dlr.de/146453/ | ||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||
| Title: | Close Range Approach and Fly-around with LiDAR in On-Orbit Servicing Missions | ||||||||||||||||||||
| Authors: |
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| Date: | 2021 | ||||||||||||||||||||
| Refereed publication: | No | ||||||||||||||||||||
| Open Access: | No | ||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||
| Keywords: | OOS missions, LiDAR, visual navigation, rendezvous | ||||||||||||||||||||
| Event Title: | Stardust-R – Second Global Virtual Workshop | ||||||||||||||||||||
| Event Location: | virtuell | ||||||||||||||||||||
| Event Type: | Workshop | ||||||||||||||||||||
| Event Start Date: | 13 September 2021 | ||||||||||||||||||||
| Event End Date: | 17 September 2021 | ||||||||||||||||||||
| Organizer: | DLR | ||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||||
| HGF - Program Themes: | Robotics | ||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||
| DLR - Program: | R RO - Robotics | ||||||||||||||||||||
| DLR - Research theme (Project): | R - RICADOS++ [RO] | ||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||
| Institutes and Institutions: | Space Operations and Astronaut Training > Space Flight Technology | ||||||||||||||||||||
| Deposited By: | Klionovska, Ksenia | ||||||||||||||||||||
| Deposited On: | 06 Dec 2021 11:41 | ||||||||||||||||||||
| Last Modified: | 24 Apr 2024 20:45 |
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