Vision-based Terrain Relative Navigation for Planetary Landing

Download or read book Vision-based Terrain Relative Navigation for Planetary Landing written by Graeme Sutterlin and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Ose estimation is an integral part of any navigation pipeline. Its goal is to estimate the location and orientation of a 6 degree-of-freedom sensor in a 3D scene. A crucial stage in this process is identifying the correspondence between the data obtained from a sensor and the 3D world model, after which algorithms like PnP are used to construct the camera posture depending on the correspondence. This research work aims to determine pose (orientation and translation) of a camera sensor based on the finding the correspondence between features in a image and a 3D points in the terrain frame using nonlinear optimization techniques. The 2D to 3D correspondence problem is reduced to a 2D to 2D correspondence problem (feature matching and tracking) by rapidly rendering a perspective projection of the available 3D point cloud. The use of Gazebo as a physics simulator to produce an exact lighting environment and simulate the descent of a camera-equipped spacecraft on a parabolic approach to the Rheasilvia crater is discussed in detail. The challenges posed by sensor limitations and camera noise are also evaluated in this work. It is shown that the nonlinear least-squares is able to accurately estimate the pose up to machine precision in the case without any noise, and up to a reasonable tolerance in the presence of noise. Monte-Carlo simulations are performed to validate these results.