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Relative pose estimation of known rigid objects using a novel approach to high-level PMD-/CCD- sensor data fusion with regard to applications in space (2014)
Tzschichholz, Tristan
In this work, a novel method for estimating the relative pose of a known object is presented, which relies on an application-specific data fusion process. A PMD-sensor in conjunction with a CCD-sensor is used to perform the pose estimation. Furthermore, the work provides a method for extending the measurement range of the PMD sensor along with the necessary calibration methodology. Finally, extensive measurements on a very accurate Rendezvous and Docking testbed are made to evaluate the performance, what includes a detailed discussion of lighting conditions.
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