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Relative pose estimation of known rigid objects using a novel approach to high-level PMD-/CCD- sensor data fusion with regard to applications in space

Tzschichholz, Tristan (2014) Relative pose estimation of known rigid objects using a novel approach to high-level PMD-/CCD- sensor data fusion with regard to applications in space. Dissertation, Universität Würzburg, DLR.

Full text not available from this repository.

Official URL: https://opus.bibliothek.uni-wuerzburg.de/frontdoor/index/index/docId/10391

Abstract

In this work, a novel method for estimating the relative pose of a known object is presented, which relies on an application-specific data fusion process. A PMD-sensor in conjunction with a CCD-sensor is used to perform the pose estimation. Furthermore, the work provides a method for extending the measurement range of the PMD sensor along with the necessary calibration methodology. Finally, extensive measurements on a very accurate Rendezvous and Docking testbed are made to evaluate the performance, what includes a detailed discussion of lighting conditions. In der Arbeit wird eine neuartige Methode zur Bestimmung der relativen Lage eines bekannten Objektes vorgestellt, welche auf einem anwendungsspezifischen Datenfusionsprozess basiert. Dabei wird ein PMD-Sensor zusammen mit einem CCD-Sensor benutzt, um die Lagebestimmung vorzunehmen. Darüber hinaus liefert die Arbeit eine Methode, den Messbereich des PMD-Sensors zu erhöhen zusammen mit der notwendigen Kalibrierungsmethoden. Schließlich werden detailierte und weitreichende Messungen aus einer sehr genauen Rendezvous und Docking-Testanlage gemacht, um die Leistungsfähigkeit des Algorithmus zu demonstrieren, was auch eine detaillierte Behandung der Beleuchtungsbedingungen einschließt.

Item URL in elib:https://elib.dlr.de/97099/
Document Type:Thesis (Dissertation)
Title:Relative pose estimation of known rigid objects using a novel approach to high-level PMD-/CCD- sensor data fusion with regard to applications in space
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Tzschichholz, TristanDLR, Universität WürzburgUNSPECIFIED
Date:2014
Journal or Publication Title:Würzburger Forschungsberichte in Robotik und Telematik
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Image processing, PMD, data fusion, phase unwrapping, pose estimation, rendezvous and docking
Institution:Universität Würzburg, DLR
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 On-Orbit Servicing - GNC und VR
Location: Oberpfaffenhofen
Institutes and Institutions:Space Operations and Astronaut Training > Space Flight Technology
Deposited By: Benninghoff, Heike
Deposited On:07 Jul 2015 16:58
Last Modified:07 Jul 2015 16:58

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