Computer vision-based localization and mapping of an unknown, uncooperative and spinning target for spacecraft proximity operations

Thesis: Ph. D., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2013.

Bibliographic Details
Main Author: Tweddle, Brent Edward
Other Authors: David W. Miller, Alvar Saenz-Otero, John J. Leonard and Larry H. Matthies.
Format: Thesis
Language:eng
Published: Massachusetts Institute of Technology 2014
Subjects:
Online Access:http://hdl.handle.net/1721.1/85693
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author Tweddle, Brent Edward
author2 David W. Miller, Alvar Saenz-Otero, John J. Leonard and Larry H. Matthies.
author_facet David W. Miller, Alvar Saenz-Otero, John J. Leonard and Larry H. Matthies.
Tweddle, Brent Edward
author_sort Tweddle, Brent Edward
collection MIT
description Thesis: Ph. D., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2013.
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spelling mit-1721.1/856932019-04-12T11:17:02Z Computer vision-based localization and mapping of an unknown, uncooperative and spinning target for spacecraft proximity operations Tweddle, Brent Edward David W. Miller, Alvar Saenz-Otero, John J. Leonard and Larry H. Matthies. Massachusetts Institute of Technology. Department of Aeronautics and Astronautics. Massachusetts Institute of Technology. Department of Aeronautics and Astronautics. Aeronautics and Astronautics. Thesis: Ph. D., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2013. This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. Cataloged from student-submitted PDF version of thesis. Includes bibliographical references (pages 399-410). Prior studies have estimated that there are over 100 potential target objects near the Geostationary Orbit belt that are spinning at rates of over 20 rotations per minute. For a number of reasons, it may be desirable to operate in close proximity to these objects for the purposes of inspection, docking and repair. Many of them have an unknown geometric appearance, are uncooperative and non-communicative. These types of characteristics are also shared by a number of asteroid rendezvous missions. In order to safely operate in close proximity to an object in space, it is important to know the target object's position and orientation relative to the inspector satellite, as well as to build a three-dimensional geometric map of the object for relative navigation in future stages of the mission. This type of problem can be solved with many of the typical Simultaneous Localization and Mapping (SLAM) algorithms that are found in the literature. However, if the target object is spinning with signicant angular velocity, it is also important to know the linear and angular velocity of the target object as well as its center of mass, principal axes of inertia and its inertia matrix. This information is essential to being able to propagate the state of the target object to a future time, which is a key capability for any type of proximity operations mission. Most of the typical SLAM algorithms cannot easily provide these types of estimates for high-speed spinning objects. This thesis describes a new approach to solving a SLAM problem for unknown and uncooperative objects that are spinning about an arbitrary axis. It is capable of estimating a geometric map of the target object, as well as its position, orientation, linear velocity, angular velocity, center of mass, principal axes and ratios of inertia. This allows the state of the target object to be propagated to a future time step using Newton's Second Law and Euler's Equation of Rotational Motion, and thereby allowing this future state to be used by the planning and control algorithms for the target spacecraft. In order to properly evaluate this new approach, it is necessary to gather experi by Brent Edward Tweddle. Ph. D. 2014-03-19T14:17:54Z 2014-03-19T14:17:54Z 2013 2013 Thesis http://hdl.handle.net/1721.1/85693 871255730 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 410 pages application/pdf Massachusetts Institute of Technology
spellingShingle Aeronautics and Astronautics.
Tweddle, Brent Edward
Computer vision-based localization and mapping of an unknown, uncooperative and spinning target for spacecraft proximity operations
title Computer vision-based localization and mapping of an unknown, uncooperative and spinning target for spacecraft proximity operations
title_full Computer vision-based localization and mapping of an unknown, uncooperative and spinning target for spacecraft proximity operations
title_fullStr Computer vision-based localization and mapping of an unknown, uncooperative and spinning target for spacecraft proximity operations
title_full_unstemmed Computer vision-based localization and mapping of an unknown, uncooperative and spinning target for spacecraft proximity operations
title_short Computer vision-based localization and mapping of an unknown, uncooperative and spinning target for spacecraft proximity operations
title_sort computer vision based localization and mapping of an unknown uncooperative and spinning target for spacecraft proximity operations
topic Aeronautics and Astronautics.
url http://hdl.handle.net/1721.1/85693
work_keys_str_mv AT tweddlebrentedward computervisionbasedlocalizationandmappingofanunknownuncooperativeandspinningtargetforspacecraftproximityoperations