Model-based spacecraft pose estimation and motion prediction using a photonic mixer device camera |
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| Authors: | Tristan Tzschichholz Lei Ma Klaus Schilling |
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| Institution: | 1. Department of Robotics and Telematics, Institute of Computer Science, University of Würzburg, Germany;2. German Aerospace Centre, Oberpfaffenhofen, Germany;3. School of Electrical Engineering, Southwest Jiaotong University, Chengdu, China;1. Institute of Photoelectronics, Tianjin Key Laboratory of Photoelectronic Thin-film Devices and Technique, Nankai University, Tianjin 300071, PR China;2. Department of Electrical Engineering and Computer Science, South Dakota State University, Brookings, SD 57007, USA;1. Beijing Institute of Astronautical Systems Engineering, Beijing 100076, China;2. Center for Control Theory and Guidance Technology, Harbin Institute of Technology, Harbin 150001, China;3. Academy of Fundamental and Interdisciplinary Science, Harbin Institute of Technology, Harbin 150001, China |
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| Abstract: | Determination of relative distances and orientations, as well as motion identification is essential in rendezvous and docking and formation flying tasks. A 3D-image generated by a PMD (photonic mixer device) camera, which employs a phase shift measurement of emitted modulated light to derive distance and color information on each pixel, provides in this contribution the basis for near range motion detection and prediction. A novel algorithm based on rotation- and scale-invariant features commonly used for scan matching in high-resolution images is presented. The performance of the PMD camera and of the proposed data processing is characterized in scenarios, considering factors like relative velocities, rotation dynamics, illumination and optical properties of target surface materials, which are major effects for disturbances in this context. |
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