The Spheres Vertigo Goggles: Vision Based Mapping and Localization Onboard the International Space Station
نویسندگان
چکیده
The Synchronized Position Hold Engage Reorient Experimental Satellites (SPHERES) are an experimental testbed for guidance, navigation and control algorithms that has been operated, by astronauts, inside the crew volume of the International Space Station (ISS) since 2006. In October 2012, the MIT Space Systems Laboratory and Aurora Flight Sciences will launch a vision based navigation upgrade to the SPHERES satellites that will perform visual mapping and localization inside the ISS.
منابع مشابه
Vision-Based Relative Navigation and Control for Autonomous Spacecraft Inspection of an Unknown Object
This paper describes a vision-based relative navigation and control strategy for inspecting an unknown and non-cooperative object in space using a visual-inertial system. The proposed inspection spacecraft system relies solely on a calibrated stereo camera and a 3-axis gyroscope to maintain a safe inspection distance while following a circle trajectory around the object. The navigation system i...
متن کاملDesign and Development of a Visual Navigation Testbed for Spacecraft Proximity Operations
This paper presents the design and development of an upgrade to the Synchronized Position Hold Engage Reorient Experimental Satellites (SPHERES) that enables the research and development of computer vision based navigation algorithms for spacecraft proximity operations. This upgrade is referred to as the SPHERES Goggles and is shown in Figure 1. It includes two cameras, illuminating LED lights,...
متن کاملSelf-supervised learning as an enabling technology for future space exploration robots: ISS experiments
Although machine learning holds an enormous promise for autonomous space robots, it is currently not employed because of the inherent uncertain outcome of learning processes. In this article, we investigate a learning mechanism, Self-Supervised Learning (SSL), which is very reliable and hence an important candidate for real-world deployment even on safety-critical systems such as space robots. ...
متن کاملTriDAR Test Results Onboard Final Shuttle Mission, Applications for Future of Non-Cooperative Autonomous Rendezvous & Docking
This paper presents results from the final Space Shuttle test flight of the TriDAR vision system onboard Shuttle Atlantis on STS-135. The TriDAR (Triangulation + LIDAR) is a proximity operations 3D vision system for Autonomous Rendezvous and Docking (AR&D) missions to non-cooperative targets in space. The TriDAR has previously flown on STS-128 and STS-131 onboard Shuttle Discovery. The objectiv...
متن کاملMap-merging in Multi-robot Simultaneous Localization and Mapping Process Using Two Heterogeneous Ground Robots
In this article, a fast and reliable map-merging algorithm is proposed to produce a global two dimensional map of an indoor environment in a multi-robot simultaneous localization and mapping (SLAM) process. In SLAM process, to find its way in this environment, a robot should be able to determine its position relative to a map formed from its observations. To solve this complex problem, simultan...
متن کامل