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Accelerating Point Set Registration For Automated Aerial Refueling, Ryan M. Raettig

Theses and Dissertations

The goal of AAR is to control the tanker boom to safely refuel a receiving aircraft with no input or aid from the boom operator. To achieve this, the pose of the receiver relative to the tanker must be known. Point set registration is a fundamental issue used to estimate the relative pose of an object in an environment. However, it's likely a computational bottleneck of a vision processing pipeline. In addition, the matching of each sensed point with a closest truth point, nearest neighbor matching, is the most costly portion of the point set registration process. For this reason, …