MITSpaceSystemsLab
Inspection of a SPHERES satellite (tri-axial inertia symmetry) using the VERTIGO platform and the algorithms in [1]. Sped up 2.5X.
Legend:
(Top Left) Left stereo image with features shown in blue, frame-to-frame SURF feature matches shown in green (red when less than 6 matches). Loop closures shown in yellow.
(Top Right) Depth map (grey) with centroid (green), and feature search window (blue).
(Bottom Left) Map from current iSAM2 pose graph solution, with first inliers (purple), current inliers (green), geometric frame triad (red, green, blue), and inliers in order of detection (blue, green, orange, yellow). All features shown as small grey dots.
(Bottom Right) Visually-measured (purple) and gyroscope-measured (cyan) body angular velocities, with estimated intermediate frame triad (thin dashed) and estimated body frame triad (thick dashed). Fit conic projections (black), and true (o) and estimated (•) inertia ratios (bottom).
[1] T. P. Setterfield, “On-Orbit Inspection of a Rotating Object Using a Moving Observer,” PhD thesis, Massachusetts Institute of Technology, 2017.
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