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A dataset to support and benchmark computer vision development for close range on-orbit servicing

Lingenauber, Martin and Kriegel, Simon and Kaßecker, Michael and 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, 11-13 May 2015, Nordwijk, Netherlands.

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Official URL: http://robotics.estec.esa.int/ASTRA/Astra2015/index.html

Abstract

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.

Item URL in elib:https://elib.dlr.de/96220/
Document Type:Conference or Workshop Item (Speech)
Title:A dataset to support and benchmark computer vision development for close range on-orbit servicing
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lingenauber, Martinmartin.lingenauber (at) dlr.deUNSPECIFIED
Kriegel, Simonsimon.kriegel (at) dlr.deUNSPECIFIED
Kaßecker, Michaelmichael.kassecker (at) dlr.deUNSPECIFIED
Panin, Giorgiogiorgio.panin (at) dlr.deUNSPECIFIED
Date:May 2015
Journal or Publication Title:Proceedings of ASTRA 2015 - 13th Symposium on Advanced Space Technologies in Robotics and Automation
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Editors:
EditorsEmail
Azkarate, Martinmartin.azkarate@esa.int
Visentin, Gianfrancogianfranco.visentin@esa.int
Publisher:ESA (European Space Agency)
Status:Published
Keywords:on-orbit servicing, computer vision, dataset
Event Title:ASTRA 2015 - 13th Symposium on Advanced Space Technologies in Robotics and Automation
Event Location:Nordwijk, Netherlands
Event Type:Workshop
Event Dates:11-13 May 2015
Organizer:ESA (European Space Agency)
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Lingenauber, Martin
Deposited On:17 Jun 2015 11:11
Last Modified:31 Jul 2019 19:53

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