Sofia McLeod

AI-enabled crater-based navigation for lunar mapping

Sofia McLeod, Chee-Kheng Chng, Matthew Rodda, Tat-Jun Chin

Abstract Crater-based navigation (CBN) uses the ubiquitous impact craters of the Moon observed on images as natural landmarks to determine the six degrees of freedom (6Dof) pose of a spacecraft. To date, CBN has primarily been studied in the context of powered …

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Crater identification by perspective cone alignment

Chee-Kheng Chng, Sofia McLeod, Matthew Rodda, Tat-Jun Chin

Robust Perspective-n-Crater for Crater-based Camera Pose Estimation

Sofia McLeod, Chee Kheng Chng, Tatsuharu Ono, Yuta Shimizu et autres

Lunar survey missions require accurate estimation of satellite and/or sensor pose (position and attitude) to achieve precise surface measurement. Crater-based pose estimation (CBPE) holds promise to achieve the desired accuracy. However, current pose estimation methods suffer from one or more weaknesses, such …

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Camera-Pose Robust Crater Detection from Chang'e 5

Matthew Rodda, Sofia McLeod, Ky Cuong Pham, Tat-Jun Chin

As space missions aim to explore increasingly hazardous terrain, accurate and timely position estimates are required to ensure safe navigation. Vision-based navigation achieves this goal through correlating impact craters visible through onboard imagery with a known database to estimate a craft's pose. …