Optical Correlator Based Pose Estimation using a Bank of Filters and a Pose Search Algorithm

摘要

A pose search algorithm is used in conjunction with a bank of binary phase only filters (BPOF's) to determine the pose of a craft in a docking scenario. This approach is facilitated by the use of a high speed spatial light modulator (SLM) capable of operating at ～ 4 kHz integrated into a VanderLugt type optical correlator. The filters are generated using images created from a 3D model of a craft and 3D animation software. The pose estimation is calculated using a computer interfaced to the optical correlator via a Matlab developed algorithm that captures the image frame and performs a series of correlations from a subset of filters selected by the algorithm from the filter bank.