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Demonstration of stereo vision for deorbit descent and landing

Show simple item record Sternberg, David C. Setterfield, Timothy P. Bailey, Erik S. Ansar, Adnan I. Johnson, Andrew E. 2019-08-19T20:33:49Z 2019-08-19T20:33:49Z 2019-01-31
dc.identifier.citation 42nd AAS Annual Guidance and Control Conference, Breckinridge, Colorado, January 31 - February 1, 2019 en_US
dc.identifier.clearanceno 19-0736
dc.description.abstract Planetary landers need to reduce velocity at low altitude for soft landing. Traditionally, estimating velocity and altitude has been performed with radar sensors whose performance meets the specific mission needs. There are not very many options for these sensors and they are difficult to include in a flight system either due to obsolescence, prohibitive cost or difficulty in accommodation. Recently, alternative sensing modalities are being pursued including Doppler LiDAR and vision. This paper describes results from a recent helicopter field test of a binocular stereo vision system for deorbit descent and landing applications. The system consisted of two 18.6˚ field of view cameras mounted 1.7m apart. Post processing of the images showed ranging accuracy better than 1% up to 500m and 17 cm/s velocimetry accuracy at 37m. For a flight system these images could be input into an FPGA-based processor which processes dense stereo and visual odometry in less than 1 second to achieve the stereo ranging frame rates required for soft landing. When coupled with vision based Terrain Relative Navigation this stereo system enables landing accuracies on the order of 10m. en_US
dc.description.sponsorship NASA/JPL en_US
dc.language.iso en_US en_US
dc.publisher Pasadena, CA: Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2019 en_US
dc.title Demonstration of stereo vision for deorbit descent and landing en_US
dc.type Preprint en_US

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