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Lidar-Aided Camera Feature Tracking and Visual SLAM for Spacecraft Low-Orbit Navigation and Planetary Landing

Andert, Franz and Ammann, Nikolaus and Maass, Bolko (2015) Lidar-Aided Camera Feature Tracking and Visual SLAM for Spacecraft Low-Orbit Navigation and Planetary Landing. CEAS EuroGNC 2015, 13.-15. Apr. 2015, Toulouse, Frankreich.

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Official URL: http://eurognc2015.onera.fr/


This paper explores the state estimation problem for an autonomous precision landing approach on celestial bodies. This is generally based on sensor fusion from inertial and optical sensor data. Independent of the state estimation filter, a remaining problem is the provision of position updates without the use of known absolute support information as it appears when the vehicle navigates within unknown terrain. Visual odometry or simultaneous localization and mapping (SLAM) approaches typically provide relative position. This is quite suitable, but it can be adverse due to error accumulation. The presented method combines monocular camera images with laser distance measurements to allow visual SLAM without errors from increasing scale uncertainty. It is shown that this reduces the accumulated error in comparison to sole monocular visual SLAM. Further, the presented method integrates the matching to known landmarks if they are available in the beginning of a landing approach so that the relative optical navigation can be initialized without systematic errors. Finally, tests with a simulated moon landing are performed and it is shown that the method is capable of navigating down to the ground impact.

Item URL in elib:https://elib.dlr.de/96323/
Document Type:Conference or Workshop Item (Speech)
Title:Lidar-Aided Camera Feature Tracking and Visual SLAM for Spacecraft Low-Orbit Navigation and Planetary Landing
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:13 April 2015
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:Spacecraft Navigation, Planetary Landing, Camera Feature Tracking, Optical Navigation
Event Title:CEAS EuroGNC 2015
Event Location:Toulouse, Frankreich
Event Type:international Conference
Event Dates:13.-15. Apr. 2015
Organizer:ONERA, ISAE and ENAC
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Transportation
DLR - Research area:Raumfahrt
DLR - Program:R RP - Space Transportation
DLR - Research theme (Project):R - Raumfahrzeugsysteme - Konzepte und Entwurf (old)
Location: Braunschweig , Bremen
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Institute of Space Systems > Navigation and Control Systems
Deposited By: Andert, Dr.-Ing. Franz
Deposited On:19 May 2015 10:14
Last Modified:04 Apr 2017 09:06

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