A 6-DOF Navigation Method based on Iterative Closest Imaging Point Algorithm.

ABSTRACT: To achieve six degree-of-freedom autonomous navigation of an inboard spacecraft, a novel algorithm called iterative closest imaging point (ICIP) is proposed, which deals with the pose estimation problem of a vision navigation system (VNS). This paper introduces the basics of the ICIP algorithm, including mathematical model, algorithm architecture, and convergence theory. On this basis, a navigation method is proposed. This method realizes its initialization using a Gaussian mixture model-based Kalman filter, which simultaneously solves the 3D-to-2D point correspondences and the camera pose. The initial value sensitivity, computational efficiency, robustness, and accuracy of the proposed navigation method are discussed based on simulation results. A navigation experiment verifies that the p

SUBMITTER: Shi S 

PROVIDER: S-EPMC5727184 | biostudies-literature | 2017 Dec

REPOSITORIES: biostudies-literature