Orbital navigation, docking and obstacle avoidance as a form of three dimensional model-based image understanding

摘要

Range imagery from a laser scanner can be used to provide sufficient information for docking and obstacle avoidance procedures to be performed automatically. Three dimensional model-based computer vision algorithms in development can perform these tasks even with targets which may not be cooperative (that is, objects without special targets or markers to provide unambiguous points). Role, pitch, and yaw of a vehicle can be taken into account as image scanning takes place, so that these can be correlated when the image is converted from egocentric to world coordinated. Other attributes of the sensor, such as the registered reflectance and texture channels, provide additional data sources for algorithm robustness.