Visual-inertial navigation for pinpoint planetary landing using scale-based landmark matching
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- 作者：J. Delaunea ; jeff.delaune@centraliens-nantes.net" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; G. Le Besneraisb ; guy.le_besnerais@onera.fr" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; T. Voirinc ; thomas.voirin@esa.int" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; J.L. Fargesa ; jean-loup.farges@onera.fr" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae ; C. Bourdariasd ; clement.bourdarias@astrium.eads.net" class="auth_mail" title="E-mail the corresponding authorAuthor Vitae
- 关键词：Navigation ; Vision ; Inertial ; Landing ; Precision ; Moon
- 刊名：Robotics and Autonomous Systems
- 出版年：2016
- 出版时间：April 2016
- 年：2016
- 卷：78
- 期：Complete
- 页码：63-82
- 全文大小：5660 K
文摘
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Future space missions require autonomous terrain navigation for pinpoint landing.
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We test a visual–inertial navigation filter that identifies generic mapped landmarks.
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The filter can efficiently predict position and scale of a landmark within the image.
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We demonstrate pinpoint landing performance on a lunar-representative test bench.
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We test the robustness to various parameter changes.