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Precise image-based motion estimation for autonomous small body exploration
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Johnson, Andrew E. Matthies, Larry H. |
| Copyright Year | 1998 |
| Description | Space science and solar system exploration are driving NASA to develop an array of small body missions ranging in scope from near body flybys to complete sample return. This paper presents an algorithm for onboard motion estimation that will enable the precision guidance necessary for autonomous small body landing. Our techniques are based on automatic feature tracking between a pair of descent camera images followed by two frame motion estimation and scale recovery using laser altimetry data. The output of our algorithm is an estimate of rigid motion (attitude and position) and motion covariance between frames. This motion estimate can be passed directly to the spacecraft guidance and control system to enable rapid execution of safe and precise trajectories. |
| File Size | 715719 |
| Page Count | 8 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_20000057420 |
| Archival Resource Key | ark:/13960/t9p31th0j |
| Language | English |
| Publisher Date | 1998-01-01 |
| Access Restriction | Open |
| Subject Keyword | Astronautics (general) Algorithms Spacecraft Trajectories Near Earth Asteroid Rendezvous Mission Automatic Control Spacecraft Guidance Space Flight Space Exploration Asteroid Missions Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Technical Report |
