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Vision-based autonomous characterization and navigation for asteroids

Dor, Mereghan and Bissonnette, Vincent and Zenou, Emmanuel and Lizy-Destrez, Stéphanie Vision-based autonomous characterization and navigation for asteroids. (2015) In: IAC-2015, 12 October 2015 - 16 October 2015 (Jerusalem, Israel).

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The research effort aims at designing a solely vision-based process capable of esti- mating the rotational dynamics and prelimi- nary shape of an asteroid, with the prospect of being embedded on a probe, which is a completely novel approach. A robotics- inspired method of Extended Kalman Fil- ter Simultaneous Localization and Mapping (EKF-SLAM) is proposed as a suitable first step towards an ultimately autonomous char- acterization scheme. A 2D feature extraction technique is applied to a monocular camera image stream of the asteroid surface in the visible spectrum, producing a bearing-only measurement input for the estimation engine. Depth information is inferred through triangulation of time-delayed bearings. Applicability of the method has been verifieed through promising results obtained with a simulated environment, as well as a test bench exploiting a camera to produce measurements of an actual moving target.

Item Type:Conference or Workshop Item (Paper)
Audience (conference):International conference proceedings
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Deposited On:26 Apr 2021 18:39

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