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Relative Pose Estimation for Planetary Entry Descent Landing

  • Luca Zini
  • Francesca Odone
  • Alessandro Verri
  • Piergiorgio Lanza
  • Alessandra Marcer
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6469)

Abstract

The paper is about the estimation of the relative position of a spacecraft, during the Entry Descent Landing (EDL) phase, by means of computer vision. A camera installed on board of the vehicle acquires images that are used for estimating the relative position of the camera between two consecutive images. A crucial point of the analysis, and the main objective of this work, is the estimation of the fundamental matrix F, considering the fact that in most cases we deal with a quasi-degenerate configuration. Indeed, the distance between the spacecraft (and the camera) and the planet surface, together with the morphology of the ground, make the problem difficult since most of the points will be extracted from a dominating plane. We discuss two different ways of addressing such degeneracy, while keeping the computational cost low, and present very promising results on synthetic as well as real image sequences.

Keywords

Fundamental Matrix Point Correspondence Epipolar Line Epipolar Geometry Pure Translation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Luca Zini
    • 1
  • Francesca Odone
    • 1
  • Alessandro Verri
    • 1
  • Piergiorgio Lanza
    • 2
  • Alessandra Marcer
    • 2
  1. 1.DISIUniversità degli Studi di GenovaItaly
  2. 2.Thales Alenia Space Italia S.p.A.TorinoItaly

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