This paper aims at investigating the performance of a LIDAR-based system for pose determination of uncooperative targets. This problem is relevant to both debris removal and on-orbit servicing missions, and requires the adoption of suitable electro-optical sensors on board a chaser platform, as well as model-based techniques, for target detection and pose estimation. In this paper, a three dimensional approach is pursued in which the point cloud generated by a LIDAR is exploited for pose estimation. Specifically, the condition of close proximity flight to a large debris is considered, in which the relative motion determines a large variation of debris appearance and coverage in the sensors field of view, thus producing challenging conditions for pose estimation. A customized three dimensional Template Matching approach is proposed for fast and reliable pose initial acquisition, while pose tracking is carried out with an Iterative Closest Point algorithm exploiting different measurement-model matching techniques. Specific solutions are envisaged to speed algorithm convergence and limit the size of the point clouds used for pose initial acquisition and tracking to allow autonomous on-board operation. To investigate proposed approach effectiveness and achievable pose accuracy, a numerical simulation environment is developed implementing realistic debris geometry, debris-chaser close-proximity flight, and sensor operation. Results demonstrate algorithm capability of operating with sparse point clouds and large pose variations, while achieving sub-degree and sub-centimeter accuracy in relative attitude and position, respectively.
Uncooperative pose estimation with a LIDAR-based system / Opromolla, Roberto; Fasano, Giancarmine; Rufino, Giancarlo; Grassi, Michele. - In: ACTA ASTRONAUTICA. - ISSN 0094-5765. - 110:(2015), pp. 287-297. [doi:10.1016/j.actaastro.2014.11.003]
Uncooperative pose estimation with a LIDAR-based system
OPROMOLLA, ROBERTO;FASANO, GIANCARMINE;RUFINO, GIANCARLO;GRASSI, MICHELE
2015
Abstract
This paper aims at investigating the performance of a LIDAR-based system for pose determination of uncooperative targets. This problem is relevant to both debris removal and on-orbit servicing missions, and requires the adoption of suitable electro-optical sensors on board a chaser platform, as well as model-based techniques, for target detection and pose estimation. In this paper, a three dimensional approach is pursued in which the point cloud generated by a LIDAR is exploited for pose estimation. Specifically, the condition of close proximity flight to a large debris is considered, in which the relative motion determines a large variation of debris appearance and coverage in the sensors field of view, thus producing challenging conditions for pose estimation. A customized three dimensional Template Matching approach is proposed for fast and reliable pose initial acquisition, while pose tracking is carried out with an Iterative Closest Point algorithm exploiting different measurement-model matching techniques. Specific solutions are envisaged to speed algorithm convergence and limit the size of the point clouds used for pose initial acquisition and tracking to allow autonomous on-board operation. To investigate proposed approach effectiveness and achievable pose accuracy, a numerical simulation environment is developed implementing realistic debris geometry, debris-chaser close-proximity flight, and sensor operation. Results demonstrate algorithm capability of operating with sparse point clouds and large pose variations, while achieving sub-degree and sub-centimeter accuracy in relative attitude and position, respectively.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.