Renaut, Léo and Frei, Heike and Nüchter, Andreas (2023) LiDAR based pose tracking of an uncooperative spacecraft using the smoothed normal distribution transform. 12th International Conference on Guidance, Navigation & Control Systems (ESA GNC and ICATT 2023), 2023-06-12 - 2023-06-16, Sopot, Polen.
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Abstract
Lidar sensors provide precise 3D point cloud measurements, and can be used for pose estimation of an uncooperative satellite during space rendezvous. For updating the estimated pose of a the target, iterative closest point (ICP) or one of its variants is usually applied as a tracking method. However, for dense point clouds and space hardware with reduced computing power, the execution time of ICP can become a limiting factor. Normal distribution transform (NDT) is an alternative algorithm for fine point cloud registration, which can be faster than ICP. Yet, NDT can be less robust than ICP due to the discontinuities in its cost function. This work proposes a smoothing method of the NDT map in order to mitigate this robustness problem. In addition, a strategy for correcting motion blur observed with lidar sensors when recording a tumbling target is developed. Experiments at the European Proximity Operations Simulator demonstrate the efficiency, precision and robustness of the smoothed NDT algorithm when compared to ICP, as well as the importance of motion blur correction for precise pose estimation.
Item URL in elib: | https://elib.dlr.de/196294/ | ||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||
Title: | LiDAR based pose tracking of an uncooperative spacecraft using the smoothed normal distribution transform | ||||||||||||||||
Authors: |
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Date: | 2023 | ||||||||||||||||
Refereed publication: | No | ||||||||||||||||
Open Access: | Yes | ||||||||||||||||
Gold Open Access: | No | ||||||||||||||||
In SCOPUS: | No | ||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||
Status: | Published | ||||||||||||||||
Keywords: | Pose estimation, LiDAR, Non-cooperative Rendezvous | ||||||||||||||||
Event Title: | 12th International Conference on Guidance, Navigation & Control Systems (ESA GNC and ICATT 2023) | ||||||||||||||||
Event Location: | Sopot, Polen | ||||||||||||||||
Event Type: | international Conference | ||||||||||||||||
Event Start Date: | 12 June 2023 | ||||||||||||||||
Event End Date: | 16 June 2023 | ||||||||||||||||
Organizer: | ESA | ||||||||||||||||
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], R - Project ScOSA flight experiment | ||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||
Institutes and Institutions: | Space Operations and Astronaut Training > Space Flight Technology | ||||||||||||||||
Deposited By: | Renaut, Leo Tullio Richard | ||||||||||||||||
Deposited On: | 31 Jul 2023 10:22 | ||||||||||||||||
Last Modified: | 24 Apr 2024 20:56 |
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