Hardware in the Loop Performance Assessment of LIDAR-Based Spacecraft Pose Determination
AbstractIn this paper an original, easy to reproduce, semi-analytic calibration approach is developed for hardware-in-the-loop performance assessment of pose determination algorithms processing point cloud data, collected by imaging a non-cooperative target with LIDARs. The laboratory setup includes a scanning LIDAR, a monocular camera, a scaled-replica of a satellite-like target, and a set of calibration tools. The point clouds are processed by uncooperative model-based algorithms to estimate the target relative position and attitude with respect to the LIDAR. Target images, acquired by a monocular camera operated simultaneously with the LIDAR, are processed applying standard solutions to the Perspective-n-Points problem to get high-accuracy pose estimates which can be used as a benchmark to evaluate the accuracy attained by the LIDAR-based techniques. To this aim, a precise knowledge of the extrinsic relative calibration between the camera and the LIDAR is essential, and it is obtained by implementing an original calibration approach which does not need ad-hoc homologous targets (e.g., retro-reflectors) easily recognizable by the two sensors. The pose determination techniques investigated by this work are of interest to space applications involving close-proximity maneuvers between non-cooperative platforms, e.g., on-orbit servicing and active debris removal. View Full-Text
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Opromolla, R.; Fasano, G.; Rufino, G.; Grassi, M. Hardware in the Loop Performance Assessment of LIDAR-Based Spacecraft Pose Determination. Sensors 2017, 17, 2197.
Opromolla R, Fasano G, Rufino G, Grassi M. Hardware in the Loop Performance Assessment of LIDAR-Based Spacecraft Pose Determination. Sensors. 2017; 17(10):2197.Chicago/Turabian Style
Opromolla, Roberto; Fasano, Giancarmine; Rufino, Giancarlo; Grassi, Michele. 2017. "Hardware in the Loop Performance Assessment of LIDAR-Based Spacecraft Pose Determination." Sensors 17, no. 10: 2197.
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