Estimating satellite pose and motion parameters using a novelty filter and neural net trackerA system for determining the position, orientation and motion of a satellite with respect to a robotic spacecraft using video data is advanced. This system utilizes two levels of pose and motion estimation: an initial system which provides coarse estimates of pose and motion, and a second system which uses the coarse estimates and further processing to provide finer pose and motion estimates. The present paper emphasizes the initial coarse pose and motion estimation sybsystem. This subsystem utilizes novelty detection and filtering for locating novel parts and a neural net tracker to track these parts over time. Results of using this system on a sequence of images of a spin stabilized satellite are presented.
Document ID
19900045047
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Lee, Andrew J. (Carnegie-Mellon Univ. Pittsburgh, PA, United States)
Casasent, David (Carnegie-Mellon Univ. Pittsburgh, PA, United States)
Vermeulen, Pieter (Carnegie-Mellon Univ. Pittsburgh, PA, United States)
Barnard, Etienne (Carnegie-Mellon University Pittsburgh, PA, United States)