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The entry, descent and landing of Schiaparelli, the ExoMars Entry, descent and landing Demonstrator Module (EDM), offered a rare (once-per-mission) opportunity for in situ investigations of the martian environment over a wide altitude range. The aim of the ExoMars AMELIA experiment was to exploit the Entry, Descent and Landing System (EDLS) engineering measurements for scientific investigations of...
A procedure to calibrate the relative position and orientation (extrinsic parameters) between a Time of Flight (ToF) camera and an RGB camera is presented. The proposed approach is particularly suited for ToF cameras characterized by very low resolution and a limited field of view. The presented experimental set-up is conceived to facilitate feature detection using both the ToF and RGB cameras. Three...
A wind tunnel test campaign has been conducted prior to the landing of the Exomars2016 EDM module on the Meridiani Planum on the 19th of October 2016. Test were perfomed in the Mars wind tunnel facility at Aahrus University (DK) under the 2015 Europlanet Call. The facility was available for a 5 days campaign where different environmental configurations were tested and both a full scale DREAMS Metmast...
Stereo visual odometry is one of the most accurate dead-reckoning methods for estimating the motion of a moving vehicle but it strongly depends on a robust matching of the image features in the stereo frame. If a stereo camera is observing the environment from a critically small distance the two field of view can be subjected to poor or absent overlapping. That leads to failure of the computation...
Sounding rockets are a widely used test bench in the aerospace field that allow testing a huge quantity of products, parts ed experiments. However, they are often expensive and require a long development cycle before launch. In this scenario, the Nimbus project team has developed a sounding rocket with the main purpose of engineering a reusable, cost-effective test bench, which is scalable to carry...
In this work we have performed a sensitivity analysis of the Visual Position Estimator for Rover (VIPER) algorithm using data and images provided by NASA MER exploration rovers and NASA Mars Reconnaissance Orbiter. The algorithm retrieves the rover camera position and orientation relative to a Digital Elevation Model by comparing the skyline extracted from a panoramic image captured by the rover and...
In this paper we describe a Visual Odometry algorithm using a single RGB camera and a low resolution Time-ofFlight (ToF) camera for resolving the scale ambiguity in monocular vision. Two hybrid 3D-to-2D approaches for integrating direct depth measurements from the ToF with the RGB camera are compared. These two methods differ in the association of RGB and ToF camera measurements: one is performed...
In planetary exploration space missions, motion measurement of a vehicle on the surface of a planet is usually performed using a visual odometry method with two stereo global shutter cameras. In many technical applications, more favorable and cheaper rolling shutter cameras replace the global shutter ones. In this work, the visual odometry task is performed with rolling shutter cameras, analyzing...
Sounding rockets are a widely used test bench in the aerospace field that allow the testing of a huge quantity of products, parts ed experiments. However they are often expensive and require a long development cycle before launch. In this scenario, the Nimbus project team has developed a sounding rocket with the main purpose of engineering a reusable, cost-effective test bench, which is scalable to...
In this paper, we present an experimental analysis of how landmark distributions in a scene, as observed by a stereo-camera, affect Visual Odometry measurement performances. Translational and rotational tests have been performed in many different positions in an indoor environment. The Visual Odometry algorithm, which has been implemented firstly, guesses motion by a linear 3D-to-3D method embedded...
Ground-based testbeds have been widely used for the development and verification on the ground of algorithms and space instrumentation. This paper presents the development of a contactless measurement system to estimate the planar motion of a free floating robot in the development phase of a ground-based testbed translational module. The contactless system is used to estimate both position and azimuth...
Estimation of the robot path and mapping of the surrounding environment are some of the most important tasks for a planetary exploration vehicle. Probabilistic SLAM algorithms fulfill these tasks improving the accuracy of the estimations the more and more the same landscape is observed. In this paper two algorithms based on stereo vision and monocular vision are compared on multiple datasets to prove...
The Nimbus Project team, made of young engineers and university students, is developing an Autonomous Re-Entry System (ARES) based on a controlled paraglider. The target is to use the ARES to autonomously recover a reusable sounding rocket in a specific area dedicated for landing. The system is mainly divided in two parts: the paraglider wing with a traditional configuration of a ram-air parachute...
An experimental comparison among visual odometry systems using lenses with three different focal lengths (an ultra wide angle, a medium wide angle and a telephoto lens) is presented. For each focal length, several translational and rotational tests are performed, taking into account and analyzing different positions of the system inside the laboratory. The influence of several operative parameters...
Ground-based testbed have been used since the beginning of space exploration for the development and verification of both hardware and software. In this paper, we present the calibration and the validation of an optical flow sensor based navigation system for our ground-based spacecraft testbed. This contactless and low cost system is designed to estimate position and azimuth of the testbed translational...
The Nimbus Project team, made of young engineers and university students, has developed a sounding rocket with the main aim to engineer a reusable, cost-effective test bench. This makes it possible to field test many aerospace technologies as guidance or reentry systems, enable airborne atmospheric measurements and high altitude students' experiments. The modular architecture allows the use of different...
The Temperature sensor of the DREAMS (Dust characterization, Risk assessment and Environment Analyzer on the Martian Surface) package, MarsTEM, on board the Exomars2016 Entry and Descent Module (EDM) was tested in the Moroccan desert during summer 2014. The sensor collected data for almost 3 days during which it measured stability of the atmospheric surface layer and experienced both rainy days and...
A vision based instrument able to measure the position and orientation of a spacecraft is described and calibrated from a metrological point of view. The instrument comprises a simple camera which observes the external surface of the satellite provided with fiducial markers and a software procedure which employs a closed-form and direct solution of the Perspective from three Points problem. Several...
MarsTEM, the temperature sensor of the DREAMS (Dust characterization, Risk assessment and Environment Analyzer on the Martian Surface) package, which will fly on ExoMars 2016 EDM (Entry, Descent and landing demonstrator Module), will provide atmosphere temperature measurements near Mars' surface. As an effect of direct solar radiation, environment albedo and thermal infrared radiation, these temperature...
Ground-based testbeds have been used since the beginning of space exploration for both hardware and software validation. In this paper we describe the innovative aspects of the attitude module of a cooperating spacecraft testbed under development at the University of Padova. We also present and discuss experimental results of specific attitude control maneuvers carried out using optimal control techniques.
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