H∞ LIDAR odometry for spacecraft relative navigation

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dc.contributor.authorKechagias-Stamatis, Odysseas
dc.contributor.authorAouf, Nabil
dc.date.accessioned2019-03-04T15:32:28Z
dc.date.available2019-03-04T15:32:28Z
dc.date.issued2016-01-04
dc.description.abstractCurrent light detection and ranging (LIDAR) based odometry solutions that are used for spacecraft relative navigation suffer from quite a few deficiencies. These include an off-line training requirement and relying on the iterative closest point (ICP) that does not guarantee a globally optimum solution. To encounter this, the authors suggest a robust architecture that overcomes the problems of current proposals by combining the concepts of 3D local feature matching with an adaptive variant of the H∞ recursive filtering process. Trials on real laser scans of an EnviSat model demonstrate that the proposed architecture affords at least one order of magnitude better accuracy compared to ICP.en_UK
dc.identifier.citationOdysseas Kechagias-Stamatis and Nabil Aouf. H∞ LIDAR odometry for spacecraft relative navigation. IET Radar Sonar and Navigation, Volume 13, Issue 5, 2019, Article number 771en_UK
dc.identifier.issn1751-8784
dc.identifier.urihttps://doi.org/10.1049/iet-rsn.2018.5354
dc.identifier.urihttp://dspace.lib.cranfield.ac.uk/handle/1826/13962
dc.language.isoenen_UK
dc.publisherIETen_UK
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.subjectmotion estimationen_UK
dc.subjectspace vehiclesen_UK
dc.subjectfeature extractionen_UK
dc.subjectrecursive filtersen_UK
dc.subjectdistance measurementen_UK
dc.subjectiterative methodsen_UK
dc.subjectoptical radaren_UK
dc.subjectnavigationen_UK
dc.subjectimage registrationen_UK
dc.subjectaerospace computingen_UK
dc.subjectimage matchingen_UK
dc.titleH∞ LIDAR odometry for spacecraft relative navigationen_UK
dc.typeArticleen_UK

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