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Title: Spacecraft hazard avoidance utilizing structured light
Authors: Liebe, Carl Christian
Padgett, Curtis
Chapsky, Jacob
Wilson, Daniel
Brown, Kenneth
Jerebets, Sergei
Goldberg, Hannah
Schroeder, Jeffrey
Keywords: remote sensing
hazard avoidance
Issue Date: 4-Mar-2006
Publisher: Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2006.
Citation: IEEE Aerospace Conference, Big Sky, Montana, March 4-11, 2006.
Abstract: At JPL, a <5 kg free-flying micro-inspector spacecraft is being designed for host-vehicle inspection. The spacecraft includes a hazard avoidance sensor to navigate relative to the vehicle being inspected. Structured light was selected for hazard avoidance because of its low mass and cost. Structured light is a method of remote sensing 3-dimensional structure of the proximity utilizing a laser, a grating, and a single regular APS camera. The laser beam is split into 400 different beams by a grating to form a regular spaced grid of laser beams that are projected into the field of view of an APS camera. The laser source and the APS camera are separated forming the base of a triangle. The distance to all beam intersections of the host are calculated based on triangulation.
Appears in Collections:JPL TRS 1992+

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