This paper presents an experimental activity carried out to evaluate the performance of LIDAR-based algorithms for pose determination of uncooperative space targets. The test setup includes a scanning LIDAR and a monocular camera mounted with a fixed relative geometry, providing 3D (point cloud) and 2D (image) representations of the same scene within the shared portion of their respective Field-of-Views. A scaled satellite mock-up is used as target. The target pose with respect to the camera, computed implementing a standard solution to the Perspective-n-Points problem, is exploited as a reference to verify the performance of the LIDAR-based pose estimation process. To this end, an original semi-analytical approach is developed to determine the relative extrinsic calibration between camera and LIDAR.
Laboratory test of pose determination algorithms for uncooperative spacecraft
01.06.2017
1652027 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch