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Fast Initial Pose Estimation of Spacecraft from LiDAR Point Cloud Data

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, 11.-13. Mai 2015, Nordwijk, Niederlande.

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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:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Rems, FlorianDLRUNSPECIFIED
Moreno González, Juan AntonioDLRUNSPECIFIED
Boge, ToralfDLRUNSPECIFIED
Tuttas, SebastianTU-MünchenUNSPECIFIED
Stilla, Uwestilla (at) tum.deUNSPECIFIED
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 Dates:11.-13. Mai 2015
Organizer: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 - Projekt OOS-E2E
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:31 Jul 2019 19:53

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