Pose Estimation for Rover-to-Lander Tube Transfer for Mars Sample Return

Nikos Mavrakis; Tu-Hoa Pham; Philip Bailey

doi:10.1109/aero55745.2023.10115908

Pose Estimation for Rover-to-Lander Tube Transfer for Mars Sample Return

Nikos Mavrakis, Tu-Hoa Pham, Philip Bailey

Metallurgy and Materials

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

The NASA-ESA Mars Sample Return campaign would require transferring the sample tube between the M2020 rover and the Sample Return Lander. For these two spacecraft to successfully transfer tubes, the lander camera needs to localize and estimate the pose of the M2020 Bit Carousel with high accuracy. We present a method for fine pose estimation of the Bit Carousel, by using data from a simulated environment. We use a set of baseline simulated RGB-D images of the Bit Carousel and a camera matrix, to detect 2D features on the image and construct the corresponding 3D points on the dock. When a new test image is presented, we detect new features and match them to the baseline features. The matching results in a set of 2D-3D correspondences on the new image, from which we estimate the final pose. We evaluate our algorithm on a dataset of photorealistic simulated images, and examine the effect of varying the algorithm parameters. The results show that our method achieves an overall acceptable performance, with low pose errors and promising execution times.

Original language	English
Title of host publication	2023 IEEE Aerospace Conference
Publisher	IEEE
Number of pages	10
ISBN (Electronic)	9781665490320
ISBN (Print)	9781665490337 (PoD)
DOIs	https://doi.org/10.1109/aero55745.2023.10115908
Publication status	Published - 15 May 2023
Event	2023 IEEE Aerospace Conference - Yellowstone Conference Center, Big Sky, United States Duration: 4 Mar 2023 → 11 Mar 2023

Publication series

Name	Proceedings - IEEE Aerospace Conference
Publisher	IEEE
ISSN (Print)	1095-323X

Conference

Conference	2023 IEEE Aerospace Conference
Abbreviated title	AEROCONF 2023
Country/Territory	United States
City	Big Sky
Period	4/03/23 → 11/03/23

Bibliographical note

Acknowledgments:
The decision to implement Mars Sample Return will not be finalized until NASA's completion of the National Environmental Policy Act (NEPA) process. This document is being made available for information purposes only. The research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration (80NM0018D0004).

Keywords

Space vehicles
Mars
Three-dimensional displays
Pose estimation
Feature extraction
Cameras
Software

Access to Document

10.1109/aero55745.2023.10115908Licence: None: All rights reserved

Cite this

@inproceedings{d15c4d2c5e544dc4af4ae7539e7c074d,

title = "Pose Estimation for Rover-to-Lander Tube Transfer for Mars Sample Return",

abstract = "The NASA-ESA Mars Sample Return campaign would require transferring the sample tube between the M2020 rover and the Sample Return Lander. For these two spacecraft to successfully transfer tubes, the lander camera needs to localize and estimate the pose of the M2020 Bit Carousel with high accuracy. We present a method for fine pose estimation of the Bit Carousel, by using data from a simulated environment. We use a set of baseline simulated RGB-D images of the Bit Carousel and a camera matrix, to detect 2D features on the image and construct the corresponding 3D points on the dock. When a new test image is presented, we detect new features and match them to the baseline features. The matching results in a set of 2D-3D correspondences on the new image, from which we estimate the final pose. We evaluate our algorithm on a dataset of photorealistic simulated images, and examine the effect of varying the algorithm parameters. The results show that our method achieves an overall acceptable performance, with low pose errors and promising execution times.",

keywords = "Space vehicles, Mars, Three-dimensional displays, Pose estimation, Feature extraction, Cameras, Software",

author = "Nikos Mavrakis and Tu-Hoa Pham and Philip Bailey",

note = "Acknowledgments: The decision to implement Mars Sample Return will not be finalized until NASA's completion of the National Environmental Policy Act (NEPA) process. This document is being made available for information purposes only. The research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration (80NM0018D0004).; 2023 IEEE Aerospace Conference, AEROCONF 2023 ; Conference date: 04-03-2023 Through 11-03-2023",

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T1 - Pose Estimation for Rover-to-Lander Tube Transfer for Mars Sample Return

AU - Mavrakis, Nikos

AU - Pham, Tu-Hoa

AU - Bailey, Philip

N1 - Acknowledgments: The decision to implement Mars Sample Return will not be finalized until NASA's completion of the National Environmental Policy Act (NEPA) process. This document is being made available for information purposes only. The research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration (80NM0018D0004).

PY - 2023/5/15

Y1 - 2023/5/15

N2 - The NASA-ESA Mars Sample Return campaign would require transferring the sample tube between the M2020 rover and the Sample Return Lander. For these two spacecraft to successfully transfer tubes, the lander camera needs to localize and estimate the pose of the M2020 Bit Carousel with high accuracy. We present a method for fine pose estimation of the Bit Carousel, by using data from a simulated environment. We use a set of baseline simulated RGB-D images of the Bit Carousel and a camera matrix, to detect 2D features on the image and construct the corresponding 3D points on the dock. When a new test image is presented, we detect new features and match them to the baseline features. The matching results in a set of 2D-3D correspondences on the new image, from which we estimate the final pose. We evaluate our algorithm on a dataset of photorealistic simulated images, and examine the effect of varying the algorithm parameters. The results show that our method achieves an overall acceptable performance, with low pose errors and promising execution times.

AB - The NASA-ESA Mars Sample Return campaign would require transferring the sample tube between the M2020 rover and the Sample Return Lander. For these two spacecraft to successfully transfer tubes, the lander camera needs to localize and estimate the pose of the M2020 Bit Carousel with high accuracy. We present a method for fine pose estimation of the Bit Carousel, by using data from a simulated environment. We use a set of baseline simulated RGB-D images of the Bit Carousel and a camera matrix, to detect 2D features on the image and construct the corresponding 3D points on the dock. When a new test image is presented, we detect new features and match them to the baseline features. The matching results in a set of 2D-3D correspondences on the new image, from which we estimate the final pose. We evaluate our algorithm on a dataset of photorealistic simulated images, and examine the effect of varying the algorithm parameters. The results show that our method achieves an overall acceptable performance, with low pose errors and promising execution times.

KW - Space vehicles

KW - Mars

KW - Three-dimensional displays

KW - Pose estimation

KW - Feature extraction

KW - Cameras

KW - Software

U2 - 10.1109/aero55745.2023.10115908

DO - 10.1109/aero55745.2023.10115908

M3 - Conference contribution

SN - 9781665490337 (PoD)

T3 - Proceedings - IEEE Aerospace Conference

BT - 2023 IEEE Aerospace Conference

PB - IEEE

T2 - 2023 IEEE Aerospace Conference

Y2 - 4 March 2023 through 11 March 2023

ER -

Pose Estimation for Rover-to-Lander Tube Transfer for Mars Sample Return

Abstract

Publication series

Conference

Bibliographical note

Keywords

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