Abstract
This paper proposes a simultaneous estimation method for planetary lander's motion parameters and 3-D locations of the scene points on planetary surface using CCD camera and scanning range sensor. First, the relationship between the lander's motion and the scene points' motion in camera and range image sequence is derived, and described as a couple of state and observation equations. Secondly, an estimation scheme utilizing two Extended Kalman Filter (EKF) algorithms is derived for the lnader's 6DOF motion parameters and the scene points' 3D locations. Finally, the effectiveness of the proposed method is demonstrated through numerical simulation.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
