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Proceedings Paper

Space vehicle pose estimation via optical correlation and nonlinear estimation
Author(s): John M. Rakoczy; Kenneth A. Herren
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Paper Abstract

A technique for 6-degree-of-freedom (6DOF) pose estimation of space vehicles is being developed. This technique draws upon recent developments in implementing optical correlation measurements in a nonlinear estimator, which relates the optical correlation measurements to the pose states (orientation and position). For the optical correlator, the use of both conjugate filters and binary, phase-only filters in the design of synthetic discriminant function (SDF) filters is explored. A static neural network is trained a priori and used as the nonlinear estimator. New commercial animation and image rendering software is exploited to design the SDF filters and to generate a large filter set with which to train the neural network. The technique is applied to pose estimation for rendezvous and docking of free-flying spacecraft and to terrestrial surface mobility systems for NASA's Vision for Space Exploration. Quantitative pose estimation performance will be reported. Advantages and disadvantages of the implementation of this technique are discussed.

Paper Details

Date Published: 17 March 2008
PDF: 12 pages
Proc. SPIE 6977, Optical Pattern Recognition XIX, 69770E (17 March 2008); doi: 10.1117/12.775200
Show Author Affiliations
John M. Rakoczy, NASA Marshall Space Flight Ctr. (United States)
Kenneth A. Herren, NASA Marshall Space Flight Ctr. (United States)

Published in SPIE Proceedings Vol. 6977:
Optical Pattern Recognition XIX
David P. Casasent; Tien-Hsin Chao, Editor(s)

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