Orbital Navigation, Docking, And Obstacle Avoidance As A Form Of Three Dimensional Model-Based Image Understanding

J. Beyer; C. Jacobus; B. Mitchell

doi:10.1117/12.942923

31 October 1987 Orbital Navigation, Docking, And Obstacle Avoidance As A Form Of Three Dimensional Model-Based Image Understanding

J. Beyer, C. Jacobus, B. Mitchell

Author Affiliations +

Proceedings Volume 0851, Space Station Automation III; (1987) https://doi.org/10.1117/12.942923
Event: Advances in Intelligent Robotics Systems, 1987, Cambridge, CA, United States

Abstract

Range imagery from a laser scanner developed at ERIM can be used to provide sufficient information for docking and obstacle avoidance procedures to be performed automatically. Three dimensional model-based computer vision algorithms in development at ERIM can perform these tasks even with targets which may not be cooperative (that is, objects without special targets or markers to provide unambiguous location points). Roll, Pitch, and Yaw of vehicle can be taken into account as image scanning takes place, so that these can be corrected when the image is converted from egocentric to world coordinates. Other attributes of the sensor, such as the registered reflectance and texture channels, provide additional data sources for algorithm robustness.

Citation Download Citation

J. Beyer, C. Jacobus, and B. Mitchell "Orbital Navigation, Docking, And Obstacle Avoidance As A Form Of Three Dimensional Model-Based Image Understanding", Proc. SPIE 0851, Space Station Automation III, (31 October 1987); https://doi.org/10.1117/12.942923

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