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Evaluating 3D local descriptors and recursive filtering schemes for LIDAR-based uncooperative relative space navigation

Kechagias-Stamatis, O., Aouf, N. ORCID: 0000-0001-9291-4077 and Dubanchet, V. (2019). Evaluating 3D local descriptors and recursive filtering schemes for LIDAR-based uncooperative relative space navigation. Journal of Field Robotics, doi: 10.1002/rob.21904

Abstract

We propose a light detection and ranging (LIDAR)‐based relative navigation scheme that is appropriate for uncooperative relative space navigation applications. Our technique combines the encoding power of the three‐dimensional (3D) local descriptors that are matched exploiting a correspondence grouping scheme, with the robust rigid transformation estimation capability of the proposed adaptive recursive filtering techniques. Trials evaluate several current state‐of‐the‐art 3D local descriptors and recursive filtering techniques on a number of both real and simulated scenarios that involve various space objects including satellites and asteroids. Results demonstrate that the proposed architecture affords a 50% odometry accuracy improvement over current solutions, while also affording a low computational burden. From our trials we conclude that the 3D descriptor histogram of distances short (HoD‐S) combined with the adaptive αβ filtering poses the most appealing combination for the majority of the scenarios evaluated, as it combines high quality odometry with a low processing burden.

Publication Type: Article
Additional Information: This is the peer reviewed version of the following article: Kechagias‐Stamatis, O, Aouf, N, Dubanchet, V. Evaluating 3D local descriptors and recursive filtering schemes for lidar based uncooperative relative space navigation. J Field Robotics. 2019; 1– 41., which has been published in final form at https://doi.org/10.1002/rob.21904. This article may be used for non-commercial purposes in accordance with Wiley Terms and Conditions for Use of Self-Archived Versions.
Subjects: T Technology > TL Motor vehicles. Aeronautics. Astronautics
U Military Science
Departments: School of Mathematics, Computer Science & Engineering > Engineering > Mechanical Engineering & Aeronautics
URI: https://openaccess.city.ac.uk/id/eprint/23172
[img] Text - Accepted Version
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