4021 カメラおよび距離画像を用いた,着陸機運動・特徴点位置同時推定(S61-1 宇宙システムの誘導・制御(1),21世紀地球環境革命の機械工学:人・マイクロナノ・エネルギー・環境)

概要

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This paper proposes a simultaneous estimation method for planetary lander's motion parameters and 3-D locations of the scene points on planetary surface using CCD camera and scanning range sensor. First, the relationship between the lander's motion and the scene points' motion in camera and range image sequence is derived, and described as a couple of state and observation equations. Secondly, an estimation scheme utilizing two Extended Kalman Filter (EKF) algorithms is derived for the lnader's 6DOF motion parameters and the scene points' 3D locations. Finally, the effectiveness of the proposed method is demonstrated through numerical simulation.
社団法人日本機械学会の論文
2008-08-02