<title>Integration of a tracking laser range camera with the photogrammetry-based space vision system</title>

Abstract

This paper presents the most up-to date experimental results obtained during the integration of a 3-D Laser Scanner Tracking System and the current Space Vision System used by NASA. Half scale models of modules of the Space Station Freedom have been built for this demonstration and comparison between the current method using video cameras and the Laser Scanner System are presented. The variable resolution laser scanner can track, in real time, targets and geometrical features of an object. The Laser Scanner System uses two high-speed galvanometers and a collimated laser beam to address individual targets on the object. Very high-resolution images and excellent tracking accuracy are obtained using Lissajous figures that provide high pointing accuracy of a laser beam. The prototype automatically searches and tracks, in 3-D, targets attached to the object. The locations of the centroid of the detected targets are fed directly into the existing photosolution and attitude control modules of the Space Vision System (SVS).

<title>Comparison of pose estimation methods of a 3D laser tracking system using triangulation and photogrammetry techniques</title>

“…The system, with respect to [4,10], can now track conventional Black on White targets as well as retro-reflective targets. For compatibility with current space applications and missions, tracking compatibility with Black Inconel targets was imperative.…”

“…Because the exact locations of these features on the object are known, object position is computed from their relative positions in the video images using a photogrammetry-based technique known as spatial resection. In [4] and in Figure 5, tracking of retroreflective targets was used to demonstrate the operation of the laser scanner.…”

“…High resolution images and excellent tracking accuracy are obtained. References [4,5] details the laser scanner operations and the integration of the laser scanner system with the current Space Vision System for tracking operation. Our laser-based range scanner approach [7,8,9] offers the advantage of being close to 100% operational throughout the changing illumination conditions in orbit.…”

Accurate 3D acquisition of freely moving objects

“…The advantages of this scanner system are described in [4] and [5]. The combination of excellent accuracy and large volume of measurement is a definite advantage compared to other methods.…”

Real-time geometrical tracking and pose estimation using laser triangulation and photogrammetry

“…The electro-optical performances of the autosynchronized laser scanner used in this paper and the analysis of system sensitivity to sun interferences have been presented in previous publications [5][6]. Details of the laser scanner operations and its integration to the SVS system for tracking operation appear in reference [7].…”