Imaging Components, Systems, and Processing

Relative pose estimation of a lander using crater detection and matching

[+] Author Affiliations
Tingting Lu, Weiduo Hu, Chang Liu

Beihang University, School of Astronautics, Xueyuan Road No. 37, Haidian District, Beijing 100191, China

Daguang Yang

Naval Aviation Academy, XingGong Road No. 1, LianShan District, Huludao 125001, China

Opt. Eng. 55(2), 023102 (Feb 04, 2016). doi:10.1117/1.OE.55.2.023102
History: Received July 22, 2015; Accepted January 7, 2016
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Abstract.  Future space exploration missions require precise information about the lander pose during the descent and landing steps. An effective algorithm that utilizes crater detection and matching is presented to determine the lander pose with respect to the planetary surface. First, the projections of the crater circular rims in the descent image are detected and fitted into ellipses based on the geometric distance and coplanar circles constraint. Second, the detected craters are metrically rectified through a two-dimensional homography and matched with the crater database by similarity transformation. Finally, the lander pose is calculated by a norm-based optimization method. The algorithm is tested by synthetic and real trials. The experimental results show that our presented algorithm can determine the lander pose accurately and robustly.

© 2016 Society of Photo-Optical Instrumentation Engineers

Citation

Tingting Lu ; Weiduo Hu ; Chang Liu and Daguang Yang
"Relative pose estimation of a lander using crater detection and matching", Opt. Eng. 55(2), 023102 (Feb 04, 2016). ; http://dx.doi.org/10.1117/1.OE.55.2.023102


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