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Proceedings Paper

Orbital Navigation, Docking, And Obstacle Avoidance As A Form Of Three Dimensional Model-Based Image Understanding
Author(s): J. Beyer; C. Jacobus; B. Mitchell
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Paper Abstract

Range imagery from a laser scanner developed at ERIM 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 at ERIM can perform these tasks even with targets which may not be cooperative (that is, objects without special targets or markers to provide unambiguous location points). Roll, Pitch, and Yaw of vehicle can be taken into account as image scanning takes place, so that these can be corrected when the image is converted from egocentric to world coordinates. Other attributes of the sensor, such as the registered reflectance and texture channels, provide additional data sources for algorithm robustness.

Paper Details

Date Published: 31 October 1987
PDF: 7 pages
Proc. SPIE 0851, Space Station Automation III, (31 October 1987); doi: 10.1117/12.942923
Show Author Affiliations
J. Beyer, Environmental Research Institute of Michigan (United States)
C. Jacobus, Environmental Research Institute of Michigan (United States)
B. Mitchell, Environmental Research Institute of Michigan (United States)


Published in SPIE Proceedings Vol. 0851:
Space Station Automation III
Wun C. Chiou, Editor(s)

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