Robust spacecraft motion estimation and elevation modeling using a moving binocular head

Wolfgang Poelzleitner; Gerhard Paar

doi:10.1117/12.131686

1 November 1992 Robust spacecraft motion estimation and elevation modeling using a moving binocular head

Wolfgang Poelzleitner, Gerhard Paar

Proceedings Volume 1829, Cooperative Intelligent Robotics in Space III; (1992) https://doi.org/10.1117/12.131686
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

A novel technique for automatic elevation model computation is introduced. The technique employs a binocular camera system and an algorithm termed hierarchical feature vector matching to derive an elevation model, as well as to compute the interframe correspondences for tracking. It is argued that this algorithm unifies the procedures of range estimation (i.e., stereo correspondence), tracking (i.e., interframe correspondence), and recognition (input/model correspondence). This technique is demonstrated using a physical model of the Mars surface and a binocular camera system with seven geometrical degrees of freedom. This system provides a tool to generate realistic test imagery for the mock-up of a spacecraft approaching the landing site. The trajectory of the spacecraft can be predefined and is controlled by a computer interfaced to seven motorized positioners. Several experiments defined to estimate the accuracy of the computer vision system are reported.

Citation Download Citation

Wolfgang Poelzleitner and Gerhard Paar "Robust spacecraft motion estimation and elevation modeling using a moving binocular head", Proc. SPIE 1829, Cooperative Intelligent Robotics in Space III, (1 November 1992); https://doi.org/10.1117/12.131686

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