Terrain-relative Optical Navigation by Means of Monocular Visual Odometry
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
A number of scientific and technological objectives have revamped the exploration race of the Moon, with its poles being areas of special research interest due to its permanently shadowed craters and their ice contents. Missions that plan to realize a soft landing within these regions must be able to overcome the lightning conditions, which greatly reduce the quality and terrain richness of the optical information available to the spacecraft for navigation and guidance purposes. This thesis aims to provide terrain-relative velocity estimation from a monocular optical source, complemented with altitude data. This thesis has studied several conventional approaches and has found visual odometry techniques based on image features matching the most reliable one, with variations between several algorithms that detect such features in different ways. Velocity estimation results show an offset from the expected output, thus rendering the method as a work in progress with room for improvement. It is concluded that visual odometry cannot be a standalone source, but nonetheless offers great promises for such application.
Place, publisher, year, edition, pages
2015. , 84 p.
Technology, Optical navigation, Visual odometry
IdentifiersURN: urn:nbn:se:ltu:diva-43129Local ID: 10910be0-d03d-4741-b264-c1bd911cf7bfOAI: oai:DiVA.org:ltu-43129DiVA: diva2:1016358
Subject / course
Student thesis, at least 30 credits
Space Engineering, master's level
Validerat; 20151102 (global_studentproject_submitter)2016-10-042016-10-04Bibliographically approved