STS-128 on-orbit demonstration of the TriDAR targetless rendezvous and docking sensor

Ruel, Stephane; Luu, Tim

doi:10.1109/aero.2010.5446759

Cited by 11 publications

(6 citation statements)

References 6 publications

(5 reference statements)

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“…Борейшо 2,3 , д. т. н., Boreysho@lsystems.ru; С. В. Ивакин 2,3 , Ivakin@lsystems.ru; А. П. Погода 2 , к. т. н.; А. В. Савин 2 , д. т. н.; 1 Московский авиационный институт, Москва 2 БГТУ "ВОЕНМЕХ" им. Д. Ф. Устинова, Санкт-Петербург 3 ООО "НПП "Лазерные системы", Санкт-Петербург Лазеры обладают высоким потенциалом использования в космической технике.…”

Section: твердотельные овф-лазеры высокой яркости для космических задачunclassified

“…Even today, the experience of using lasers in space covers a wide range of tasks: laser scanning devices are used for docking space vehicles [1][2][3], spaceborne lidars carry out remote sensing of the Earth and other celestial bodies [4][5][6][7], near-Earth space is controlled by laser locators [8][9][10], high-speed space laser links are implemented [11,12].…”

Section: Introductionmentioning

confidence: 99%

“…Уже сегодня опыт применения лазеров в космосе охватывает широкий круг задач: лазерные сканирующие устройства используются при стыковке космических аппаратов (КА) [1][2][3], космические лидары осуществляют дистанционное зондирование Земли и других небесных тел [4][5][6][7], околоземный космос контролируется с помощью лазерных локаторов [8][9][10], реализуются высокоскоростные космические линии лазерной связи [11,12].…”

Section: Introductionunclassified

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High brightness solid-state phase-conjugate lasers for space applications

Avdeev¹,

Boreysho²,

Ivakin³

et al. 2018

FRos

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The lasers possess a high potential for space technology application. The article substantiates the main requirements as well as suggests approaches to the construction of spaceborne lasers for location and lidar applications, energy transfer, space debris removal from near-earth orbits, and acceleration of space vehicles. The achievements in the field of high brightness solidstate lasers based on the phase conjugation effect are demonstrated, and the feasibility of their application in space technology is substantiated.

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Section: твердотельные овф-лазеры высокой яркости для космических задачunclassified

Section: Introductionmentioning

confidence: 99%

Section: Introductionunclassified

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High brightness solid-state phase-conjugate lasers for space applications

Avdeev¹,

Boreysho²,

Ivakin³

et al. 2018

FRos

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“…These techniques either emphasize the sensory data used [global positioning system(GPS) in conjunction with inertial measurment unit (IMU) data, LiDAR sensing data, etc. ], or use additional aids, such as ground station aided relative navigation (DiMatteo, Florakis, Weichbrod, & Milam, ; Gaylor & Lightsey, ; Kasai, Oda, & Suzuki, ; Ruel & Luu, ; Ruel, Luu, & Berube, ). Their performance may suffer when applied to persistent pose tracking in space over long durations (e.g., IMUs experience drift).…”

Section: Introductionmentioning

confidence: 99%

Cooperative Relative Navigation for Space Rendezvous and Proximity Operations using Controlled Active Vision

Zhang

Kontitsis

Filipe

et al. 2015

Journal of Field Robotics

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This work aims to solve the problem of relative navigation for space rendezvous and proximity operations using a monocular camera in a numerically efficient manner. It is assumed that the target spacecraft has a special pattern to aid the task of relative pose estimation, and that the chaser spacecraft uses a monocular camera as the primary visual sensor. In this sense, the problem falls under the category of cooperative relative navigation in orbit. While existing systems for cooperative localization with fiducial markers allow full sixdegrees-of-freedom pose estimation, the majority of them are not suitable for in-space cooperative navigation (especially when involving a small-size chaser spacecraft), due to their computational cost. Moreover, most existing fiducial-based localization methods are designed for ground-based applications with limited range (e.g., ground robotics, augmented reality), and their performance deteriorates under large-scale changes, such as those encountered in space applications. Using an adaptive visual algorithm, we propose an accurate and numerically efficient approach for real-time vision-based relative navigation, especially designed for space robotics applications. The proposed method achieves low computational cost and high accuracy and robustness via the following innovations: first, an adaptive visual pattern detection scheme based on the estimated relative pose is proposed, which improves both the efficiency of detection and the accuracy of pose estimates; second, a parametric blob detector called Box-LoG is used, which is computationally efficient; and third, a fast and robust algorithm is introduced, which jointly solves the data association and pose estimation problems. In addition to having an accuracy comparable to state-of-the-art cooperative localization algorithms, our method demonstrates a significant improvement in speed and robustness for scenarios with large range changes. A vision-based closed-loop experiment using the Autonomous Spacecraft Testing of Robotic Operations in Space (ASTROS) testbed demonstrates the performance benefits of the proposed approach. C 2015 Wiley Periodicals, Inc.

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“…Nowadays, range sensors such as stereo vision, [9][10][11] scanning LIDAR, [12][13][14] and three-dimensional (3-D) time-of-flight (ToF) camera (e.g., 3-D flash LIDAR), 15,16 have gained a lot of attention in the computer vision field. However, these range sensors also have some weaknesses in real space application.…”

Section: Introductionmentioning

confidence: 99%

Scale-unambiguous relative pose estimation of space uncooperative targets based on the fusion of three-dimensional time-of-flight camera and monocular camera

Hao

Chen

et al. 2015

Opt. Eng

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Downloaded From: http://opticalengineering.spiedigitallibrary.org/ on 08/24/2015 Terms of Use: http://spiedigitallibrary.org/ss/TermsOfUse.aspx Scale-unambiguous relative pose estimation of space uncooperative targets based on the fusion of three-dimensional time-of-flight camera and monocular cameraAbstract. An approach of scale-unambiguous relative pose estimation for space uncooperative targets based on the fusion of low resolution three-dimensional time-of-flight camera and monocular camera is proposed. No a priori knowledge about the targets is assumed. First, a modified range-intensity Markov random field model is presented to quickly reconstruct the range value for each feature point. Second, the scale-ambiguous relative pose estimation algorithm based on extended Kalman filter-unscented Kalman filter-particle filter combination filter is designed in vision simultaneous localization and mapping framework. Third, the overall scale factor estimation approach based on range-intensity fusion image, which takes the feature points' range reconstruction uncertainty as measurement noise, is proposed for the final scale-unambiguous pose estimation. Finally, some simulations demonstrate the validity and capability of the proposed approach.

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STS-128 on-orbit demonstration of the TriDAR targetless rendezvous and docking sensor

Cited by 11 publications

References 6 publications

High brightness solid-state phase-conjugate lasers for space applications

High brightness solid-state phase-conjugate lasers for space applications

Cooperative Relative Navigation for Space Rendezvous and Proximity Operations using Controlled Active Vision

Scale-unambiguous relative pose estimation of space uncooperative targets based on the fusion of three-dimensional time-of-flight camera and monocular camera

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