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An Open Research Facility for Vision-Based Navigation Onboard the International Space Station

机译：国际空间站上基于视觉的导航开放研究设施

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摘要

This paper describes the VERTIGO Goggles, a hardware upgrade to the SPHERES satellites that enables vision-based navigation research in the 6 degree-of-freedom, microgravity environment of the International Space Station (ISS). The Goggles include stereo cameras, an embedded ×86 computer, a high-speed wireless communications system, and the associated electromechanical and software systems. The Goggles were designed to be a modular, expandable, and upgradable "open research test bed" that have been used for a variety of other experiments by external researchers. In February 2013, the Goggles successfully completed a hardware checkout on the ISS and was used for initial vision-based navigation research. This checkout included a successful camera calibration by an astronaut onboard the ISS. This paper describes the requirements, design, and operation of this test bed as well as the experimental results of its first checkout operations.
机译：本文介绍了VERTIGO护目镜，这是对SPHERES卫星的硬件升级，可在国际空间站（ISS）的6自由度微重力环境中进行基于视觉的导航研究。护目镜包括立体摄像机，嵌入式×86计算机，高速无线通信系统以及相关的机电和软件系统。护目镜被设计为模块化，可扩展和可升级的“开放式研究试验台”，已被外部研究人员用于各种其他实验。 2013年2月，护目镜在ISS上成功完成了硬件检查，并用于基于视觉的初始导航研究。此次检查包括由国际空间站上的宇航员成功进行了摄像机校准。本文介绍了该测试台的要求，设计和操作，以及其首次检验操作的实验结果。

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  • 来源
    《Journal of Field Robotics》 |2016年第2期|157-186|共30页
  • 作者

    Brent E. Tweddle; Timothy P. Setterfield; Alvar Saenz-Otero; David W. Miller;

  • 作者单位

    Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA 02139,Jet Propulsion Laboratory at the California Institute of Technology;

    Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA 02139;

    Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA 02139;

    Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA 02139;

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