Highly robust pose estimator based on synthetic estimation filters

Andrew A. Kostrzewski; Dai Hyun Kim; Gajendra D. Savant; Jeongdal Kim; Anatoly A. Vasiliev; Tomasz P. Jannson

doi:10.1117/12.292739

24 October 1997 Highly robust pose estimator based on synthetic estimation filters

Andrew A. Kostrzewski, Dai Hyun Kim, Gajendra D. Savant, Jeongdal Kim, Anatoly A. Vasiliev, Tomasz P. Jannson

Proceedings Volume 3159, Algorithms, Devices, and Systems for Optical Information Processing; (1997) https://doi.org/10.1117/12.292739
Event: Optical Science, Engineering and Instrumentation '97, 1997, San Diego, CA, United States

Abstract

Holographic recording techniques have been applied to implement synthetic estimation filters (SEF) for pose estimation of a docking spacecraft. Each SEF is a weighted combination of Fourier-plane hologram exposures of different target attitudes. These particular attitudes represent a span of the attitudes among which the SEFs will ratiometrically interpolate the attitude of the target in an input image. The pose is estimated by comparing the correlation peak intensities for all the filters with previously stored reference intensity peaks.

Citation Download Citation

Andrew A. Kostrzewski, Dai Hyun Kim, Gajendra D. Savant, Jeongdal Kim, Anatoly A. Vasiliev, and Tomasz P. Jannson "Highly robust pose estimator based on synthetic estimation filters", Proc. SPIE 3159, Algorithms, Devices, and Systems for Optical Information Processing, (24 October 1997); https://doi.org/10.1117/12.292739

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