As part of its historic 2022 mission, Intuitive Machines has developed a state-ofthe- art precision landing and hazard avoidance (PLHA) system that will enable its Nova-C lunar lander to safely touch down on the lunar surface. This system consists of an array of sensors that includes an inertial measurement unit (IMU), optical camera (OpCam), and a laser range finder sensor (LRFS) as well a series of algorithms which process and fuse the sensor data and produce measurements used in the navigation system. One of the measurements utilizes image processing and visual odometry (VO) to compute a delta-position (DPOS) measurement which describes the lander’s direction of motion between two image captures. In this paper, we detail the development and implementation of this measurement for the Nova-C lander, demonstrate our rigorous testing methodologies and present our findings and results.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    VISUAL ODOMETRY FOR PRECISION LUNAR LANDING




    Publication date :

    2024-01-01


    Size :

    22 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Building Maps for Lunar Precision Landing Applications

    Richardson, Jacob / Scheidt, Steven / Beyer, Ross et al. | NTRS | 2021


    Precision Lunar Landing System ACO (L2S ACO)

    Stefan Bieniawski / Danielle Kalitan / Gregory H Barton | NTRS | 2021


    Precision Lunar Landing System ACO (L2S ACO)

    S. Bieniawski / D. Kalitan / G. H. Barton | NTIS | 2021


    A Dual Quaternion Based Visual Odometry Method for a Lunar Lander

    Uzun, Semra Sultan / Soken, Halil Ersin | IEEE | 2024


    Visual odometry

    Nister, D. / Naroditsky, O. / Bergen, J. | IEEE | 2004