Dynamic Visual Simultaneous Localization and Mapping for Asteroid Exploration *
Dynamic Visual Simultaneous Localization and Mapping for Asteroid Exploration *
复制标题
小行星探索的动态视觉同步定位和测绘*
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
T. Yairi
中科院分区：
文献类型：
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作者：
Naoya Takeishi;T. Yairi
在小行星探索中，估计目标小行星的形状是必不可少的，这可以通过类似于同步定位与建图（SLAM）的方式来解决。这项工作提出了一个专门用于小行星探索的SLAM框架，该框架同时考虑小行星的刚体动力学和航天器的运动，估计小行星的形状、质心、旋转轴、角速度和相位，以及航天器相对于小行星的姿态和位置。人工生成数据的实验结果表明，所提出的方法可以使用单目相机的图像以及姿态和惯性传感器的测量来准确估计这些量。
In asteroid explorations, it is indispensable to estimate the shape of the target asteroid, which can be solved in a manner similar to one of simultaneous localization and mapping (SLAM). This work proposes a SLAM framework dedicated to the asteroid exploration, which considers both rigidbody dynamics of the asteroid and motion of the spacecraft, estimating asteroid’s shape, centroid, rotational axis, angular velocity and phase, as well as spacecraft’s attitude and position relative to the asteroid. Experimental results with artificially generated data show that the proposed method can accurately estimate these quantities using images of a monocular camera and measurements of attitude and inertia sensors.