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Full-Text Articles in Engineering
A Monocular Slam Method To Estimate Relative Pose During Satellite Proximity Operations, Scott J. Kelly
A Monocular Slam Method To Estimate Relative Pose During Satellite Proximity Operations, Scott J. Kelly
Theses and Dissertations
Automated satellite proximity operations is an increasingly relevant area of mission operations for the US Air Force with potential to significantly enhance space situational awareness (SSA). Simultaneous localization and mapping (SLAM) is a computer vision method of constructing and updating a 3D map while keeping track of the location and orientation of the imaging agent inside the map. The main objective of this research effort is to design a monocular SLAM method customized for the space environment. The method developed in this research will be implemented in an indoor proximity operations simulation laboratory. A run-time analysis is performed, showing near …
Enhanced Image-Aided Navigation Algorithm With Automatic Calibration And Affine Distortion Prediction, Juan D. Jurado
Enhanced Image-Aided Navigation Algorithm With Automatic Calibration And Affine Distortion Prediction, Juan D. Jurado
Theses and Dissertations
This research aims at improving two key steps within the image aided navigation process: camera calibration and landmark tracking. The camera calibration step is improved by automating the point correspondence calculation within the standard camera calibration algorithm, thereby reducing the required time for calibration while maintaining the output model accuracy. The feature landmark tracking step is improved by digitally simulating affine distortions on input images in order to calculate more accurate feature descriptors for improved feature matching in high relative viewpoint change. These techniques are experimentally demonstrated in an outdoor environment with a consumer-grade inertial sensor and three imaging sensors, …
Fusion Of Imaging And Inertial Sensors For Navigation, Michael J. Veth
Fusion Of Imaging And Inertial Sensors For Navigation, Michael J. Veth
Theses and Dissertations
The motivation of this research is to address the limitations of satellite-based navigation by fusing imaging and inertial systems. The research begins by rigorously describing the imaging and navigation problem and developing practical models of the sensors, then presenting a transformation technique to detect features within an image. Given a set of features, a statistical feature projection technique is developed which utilizes inertial measurements to predict vectors in the feature space between images. This coupling of the imaging and inertial sensors at a deep level is then used to aid the statistical feature matching function. The feature matches and inertial …