4021 Simultaneous Estimation of Lander's Motion and 3D Locations of Scene Points Using Camera and Range Images
Details
This paper proposes a simultaneous estimation method for planetary lander's motion parameters and 3-D locations of the scene points on planetary surface using CCD camera and scanning range sensor. First, the relationship between the lander's motion and the scene points' motion in camera and range image sequence is derived, and described as a couple of state and observation equations. Secondly, an estimation scheme utilizing two Extended Kalman Filter (EKF) algorithms is derived for the lnader's 6DOF motion parameters and the scene points' 3D locations. Finally, the effectiveness of the proposed method is demonstrated through numerical simulation.
