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Relative pose estimation of a lander using crater detection and matching

机译：利用陨石坑检测和匹配估算着陆器的相对姿态

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摘要

Future space exploration missions require precise information about the lander pose during the descent and landing steps. An effective algorithm that utilizes crater detection and matching is presented to determine the lander pose with respect to the planetary surface. First, the projections of the crater circular rims in the descent image are detected and fitted into ellipses based on the geometric distance and coplanar circles constraint. Second, the detected craters are metrically rectified through a two-dimensional homography and matched with the crater database by similarity transformation. Finally, the lander pose is calculated by a norm-based optimization method. The algorithm is tested by synthetic and real trials. The experimental results show that our presented algorithm can determine the lander pose accurately and robustly.
机译：未来的太空探索任务需要在下降和着陆步骤中有关着陆器姿态的精确信息。提出了一种有效的利用陨石坑检测和匹配的算法来确定相对于行星表面的着陆器姿态。首先，基于几何距离和共面圆约束，检测下降图像中环形坑边缘的投影并将其拟合为椭圆。其次，通过二维单应性对检测到的陨石坑进行度量校正，并通过相似度转换将其与陨石坑数据库进行匹配。最后，通过基于规范的优化方法来计算着陆器姿态。该算法已通过综合试验和实际试验进行了测试。实验结果表明，本文提出的算法能够准确，鲁棒地确定着陆器姿态。

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  • 来源
    《Optical engineering》 |2016年第2期|023102.1-023102.24|共24页
  • 作者

    Tingting Lu; Weiduo Hu; Chang Liu; Daguang Yang;

  • 作者单位

    Beihang University, School of Astronautics, Xueyuan Road No. 37, Haidian District, Beijing 100191, China;

    Beihang University, School of Astronautics, Xueyuan Road No. 37, Haidian District, Beijing 100191, China;

    Beihang University, School of Astronautics, Xueyuan Road No. 37, Haidian District, Beijing 100191, China;

    Naval Aviation Academy, XingGong Road No. 1, LianShan District, Huludao 125001, China;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    crater detection; crater matching; pose estimation; coplanar circles constraint; geometric distance-based ellipse fit;

    机译：弹坑检测火山口匹配姿势估计;共面圆约束;基于几何距离的椭圆拟合;

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