Tell a friend
Print
Rems, Florian and Moreno González, Juan Antonio and Boge, Toralf and Tuttas, Sebastian and Stilla, Uwe (2015) Fast Initial Pose Estimation of Spacecraft from LiDAR Point Cloud Data. 13th Symposium on Advanced Space Technologies in Robotics and Automation, 2015-05-11 - 2015-05-13, Nordwijk, Niederlande.
![[img]](https://elib.dlr.de/style/images/fileicons/application_pdf.png) |
PDF
4MB |
Abstract
Advanced mission concepts like On-Orbit Servicing or Active Space Debris Removal require reliable relative navigation to a possibly uncooperative target. As optical navigation sensors, 3D-LiDAR scanners provide a three-dimensional point cloud of the target. For 6-DOF pose estimation, the tracker algorithm must be provided with an initial pose. This paper presents the prototype of a pose initialization algorithm tailored for the boundary conditions of spacecraft relative navigation. Test results based on real LiDAR data are evaluated.
| Item URL in elib: | https://elib.dlr.de/96410/ | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||||||
| Title: | Fast Initial Pose Estimation of Spacecraft from LiDAR Point Cloud Data | ||||||||||||||||||||||||
| Authors: |
| ||||||||||||||||||||||||
| Date: | May 2015 | ||||||||||||||||||||||||
| Refereed publication: | No | ||||||||||||||||||||||||
| Open Access: | Yes | ||||||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||||||
| Keywords: | spacecraft relative navigation, pose estimation, lidar | ||||||||||||||||||||||||
| Event Title: | 13th Symposium on Advanced Space Technologies in Robotics and Automation | ||||||||||||||||||||||||
| Event Location: | Nordwijk, Niederlande | ||||||||||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||||||||||
| Event Start Date: | 11 May 2015 | ||||||||||||||||||||||||
| Event End Date: | 13 May 2015 | ||||||||||||||||||||||||
| Organizer: | European Space Agency | ||||||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||||||
| DLR - Research theme (Project): | R - Projekt OOS-E2E (old) | ||||||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||||||
| Institutes and Institutions: | Space Operations and Astronaut Training > Space Flight Technology | ||||||||||||||||||||||||
| Deposited By: | Rems, Florian | ||||||||||||||||||||||||
| Deposited On: | 28 May 2015 09:23 | ||||||||||||||||||||||||
| Last Modified: | 24 Apr 2024 20:02 |
Repository Staff Only: item control page
