Abstract
This study proposes a method to autonomously identify sizes and locations of the small impact craters on planar surface such as the one of spacecraft's solar array. The method is realized with the 2D-scanning range sensor in 6DOF motion over the measuring surface, and its motion parameters should be estimated to determine each crater's location as well as its geometry. In order to precisely extract the geometrical property of the craters from the range images, two invariant parameters based on 3D curvature is utilized. Also, the sensor's 6DOF velocities are estimated from the range flow data, which is computed from two successive range images. The validity of the proposed method is demonstrated through a numerical simulation using synthetic range image sequence.
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