Image Processing for Vision Based Navigation

Nicholas Rowell, Stephen Parkes, Martin Dunstan, Iain Martin, O. Dubois-Matra

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    Optical imagery provides a powerful means of autonomous navigation for spacecraft in the vicinity of Solar system bodies, where the communication delay may be much longer than the dynamical timescales. Cameras are now routinely included among the suite of sensors used to guide exploratory spacecraft, with information extracted from the images fused with that of other sensors to estimate the spacecraft state and plan orbital maneuvers. The information content of a typical image is orders of magnitude larger than that supplied by other sensors, and sophisticated processing algorithms are required to extract navigation information and reduce the raw pixel data to a manageable size. It is common to offload this task to a separate image processing system rather than integrate this directly with the GNC system. We have developed an image processing algorithm that identifies and tracks surface features through a sequence of images, in a manner robust to changes in the viewing angle, illumination and scale such as might occur during descent and landing onto a planetary surface or orbit around a small body. It does not rely on the presence of any particular type of morphological feature, and may be used for absolute navigation provided a suitable map of the terrain is available. We will describe the operation of this algorithm, present results based on simulated image data generated by the PANGU tool, and discuss further ways in which imaging data can be used to support navigation.
    Original languageEnglish
    Title of host publication8th International ESA Conference on Guidance, Navigation & Control Systems
    Subtitle of host publicationGNC 2011
    Publication statusPublished - 2011
    Event8th International ESA Conference on Guidance, Navigation & Control Systems - Czech Republic, Karlovy Vary, United Kingdom
    Duration: 5 Jun 201110 Jun 2011

    Conference

    Conference8th International ESA Conference on Guidance, Navigation & Control Systems
    CountryUnited Kingdom
    CityKarlovy Vary
    Period5/06/1110/06/11

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  • Cite this

    Rowell, N., Parkes, S., Dunstan, M., Martin, I., & Dubois-Matra, O. (2011). Image Processing for Vision Based Navigation. In 8th International ESA Conference on Guidance, Navigation & Control Systems: GNC 2011