Range and Intensity Image-Based Terrain and Vehicle Relative Pose Estimation System

Gill, Nathaniel [Inventor]Van Eepoel, John M [Inventor]Galante, Joseph M [Inventor]

关键词: NAVIGATION;    IMAGE ANALYSIS;    COMPUTER PROGRAMS;    MEMORY (COMPUTERS);    PATENTS;   

RP-ID  :  US-Patent-10,024,664, US-Patent-Appl-SN-14/502,069

学科分类：地球科学(综合)

美国|英语

来源: NASA Technical Reports Server

【 摘 要 】

A navigation system includes an image acquisition device for acquiring a range image of a target vehicle, at least one processor, a memory including a target vehicle model and computer readable program code, where the processor and the computer readable program code are configured to cause the navigation system to convert the range image to a point cloud having three dimensions, compute a transform from the target vehicle model to the point cloud, and use the transform to estimate the target vehicle's attitude and position for capturing the target vehicle.