Lingenauber, Martin und Kriegel, Simon und Kaßecker, Michael und Panin, Giorgio (2015) A dataset to support and benchmark computer vision development for close range on-orbit servicing. In: Proceedings of ASTRA 2015 - 13th Symposium on Advanced Space Technologies in Robotics and Automation. ESA (European Space Agency). ASTRA 2015 - 13th Symposium on Advanced Space Technologies in Robotics and Automation, 2015-05-11 - 2015-05-13, Nordwijk, Netherlands.
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Offizielle URL: http://robotics.estec.esa.int/ASTRA/Astra2015/index.html
Kurzfassung
This paper presents the first publicly available dataset for Close Range On-Orbit Servicing Computer Vision (CROOS-CV) intended for testing and benchmarking of computer vision algorithms. It is an representative image dataset for CROOS operations with distances of 2 m between servicer and client satellite that was recorded under illumination conditions similar to a Low Earth Orbit. A training set with 180 trajectories and a test set with 810 trajectories are provided. Both were recorded at three different sun incidence angles and with multiple different shutter times. Each trajectory consist of stereo image pairs along with the ground truth pose of the cameras. Additionally, a 3D model of the client and all calibration data is provided with the dataset. The paper provides details about the recording setup, the calibration and recording procedure. Results from tests with a visual tracking algorithm are provided. The dataset is available online at http://rmc.dlr.de/rm/en/staff/martin.lingenauber/crooscv-dataset.
elib-URL des Eintrags: | https://elib.dlr.de/96220/ | ||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | A dataset to support and benchmark computer vision development for close range on-orbit servicing | ||||||||||||||||||||
Autoren: |
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Datum: | Mai 2015 | ||||||||||||||||||||
Erschienen in: | Proceedings of ASTRA 2015 - 13th Symposium on Advanced Space Technologies in Robotics and Automation | ||||||||||||||||||||
Referierte Publikation: | Nein | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||
Herausgeber: |
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Verlag: | ESA (European Space Agency) | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | on-orbit servicing, computer vision, dataset | ||||||||||||||||||||
Veranstaltungstitel: | ASTRA 2015 - 13th Symposium on Advanced Space Technologies in Robotics and Automation | ||||||||||||||||||||
Veranstaltungsort: | Nordwijk, Netherlands | ||||||||||||||||||||
Veranstaltungsart: | Workshop | ||||||||||||||||||||
Veranstaltungsbeginn: | 11 Mai 2015 | ||||||||||||||||||||
Veranstaltungsende: | 13 Mai 2015 | ||||||||||||||||||||
Veranstalter : | ESA (European Space Agency) | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben Multisensorielle Weltmodellierung (alt) | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Perzeption und Kognition | ||||||||||||||||||||
Hinterlegt von: | Lingenauber, Martin | ||||||||||||||||||||
Hinterlegt am: | 17 Jun 2015 11:11 | ||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:01 |
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