Feature-based Optical Navigation for Lunar Landings

For space exploration, reducing the size of landing ellipses, increases the access to areas of scientific interest. This can be achieved with improved GNC systems. Since the exclusive use of IMUs is insufficient for Pinpoint Landing, optical navigation is being explored as a solution.<br/><br/>The method developed in this work is based on image...

Identification of walkable space in a voxel model, derived from a point cloud and its corresponding trajectory

Navigation from a room inside a building to another room inside a building which is across the street consists of three parts: first, the indoor part at the building where you start your journey. Secondly, the outdoor part and thirdly, another indoor part inside the building of destination. As regards to the outdoor environment, a navigation aid...

Automatic generation of indoor navigable space using a point cloud and its scanner trajectory

Automatic generation of indoor navigable models is mostly based on 2D floor plans. However, in many cases the floor plans are out of date. Buildings are not always built according to their blue prints, interiors might change after a few years because of modified walls and doors, and furniture may be repositioned to the user's preferences....