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