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Autonomous Navigation near Asteroid Based on Visual Slam
| Content Provider | Semantic Scholar |
|---|---|
| Author | Cocaud, Cedric Kubota, T. |
| Copyright Year | 2012 |
| Abstract | The means to detect an ever increasing number of sm all Near Earth Asteroids and other small celestial bodies (SCB) in the past deca s has renewed the interest of a great number of space agencies across the world, their nature ha ving the potential to bring a new understanding on the formation of our Solar System. The constraints associated with small celestial body missions require high precision navi g tion systems which cannot solely rely upon conventional inertial sensing techniques due to the lack of a gravity field of SCB's. Thus, visual navigation techniques become a valuable alternative despite their heavy computational burden. Combining visual linear pose estimation techniques with inertial motion estimates, this work presents a Rao-Blackwellized Particle Filter Simult aneous Localization and Mapping (RBPFSLAM) algorithm that aims at estimating the positio n and attitude or pose of a spacecraft maneuvering near a SCB. The RBPF SLAM uses visual s ignatures to recognize landmarks on the surface and triangulate its position with respect t o it. The performance and limitations of this approach are presented through a sensitivity analys is. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | https://issfd.org/ISSFD_2012/ISSFD23_AD_5.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
