Motion Estimation from Laser Ranging for Autonomous Comet Landing
نویسندگان
چکیده
This paper describes an algorithm for translational motion estimation near a comet surface using scanning laser rangefinder data. Our technique is based terrain map generation from rangefinder data followed by terrain map alignment. The output of our algorithm is estimates of rigid translational motion and motion covariance between scans. Our algorithms have been tested using data acquired with a prototype scanning laser rangefinder designed for comet landing, and results indicate motion estimation accuracies of 0.5m over 70m of motion with a processing rate of 4.4 Hz on 10,000
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