Ingo Ahrns

Ingo Ahrns
Airbus Defence and Space · Robotics

About

9
Publications
2,530
Reads
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70
Citations
Citations since 2016
8 Research Items
63 Citations
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20162017201820192020202120220510152025

Publications

Publications (9)
Article
Full-text available
The estimation of the relative pose of an inactive spacecraft by an active servicer spacecraft is a critical task for close-proximity operations, such as In-Orbit Servicing and Active Debris Removal. Among all the challenges, the lack of available space images of the inactive satellite makes the on-ground validation of current monocular camera-base...
Article
Full-text available
The relative pose estimation of an inactive spacecraft by an active servicer spacecraft is a critical task in the design of current and planned space missions, due to its relevance for close-proximity operations, such as In-Orbit Servicing and Active Debris Removal. This paper introduces a novel framework to enable robust monocular pose estimation...
Conference Paper
Full-text available
The estimation of the relative pose of an inactive spacecraft by an active servicer spacecraft is a critical task for close-proximity operations, such as In-Orbit Servicing and Active Debris Removal. Among all the challenges, the lack of available space images of the inactive satellite makes the on-ground validation of current monocu-lar camera-bas...
Conference Paper
Full-text available
This paper introduces a novel framework which combines a Convolutional Neural Network (CNN) for feature detection with a Covariant Efficient Procrustes Perspective-n-Points (CEPPnP) solver and an Extended Kalman Filter (EKF) to enable robust monocular pose estimation for close-proximity operations around an uncooperative spacecraft. The relative po...
Conference Paper
Full-text available
This paper reports on a comparative assessment of Image Processing (IP) techniques for the relative pose estimation of uncooperative spacecraft with a monocular camera. Currently, keypoints-based algorithms suffer from partial occlusion of the target, as well as from the different illumination conditions between the required offline database and th...
Conference Paper
The GNC architecture presented in this paper has been developed in the frame of e.Deorbit phase B1. The architecture is dedicated to approach and capture the uncooperative target satellite Envisat, comprising ascent from launch orbit to the target orbit, rendezvous with the target satellite, capture and stabilization of the coupled system and de-or...
Chapter
In this chapter we report application of neuro-fuzzy control to sonar based collision avoidance of our TRC labmate robot, Figure 5. To this end, we will first provide the reader with a brief overview of existing concepts of neuro-fuzzy control and then present our own approach based on Radial Basis Functions. This particular Fuzzy-RBF (FRBF) approa...

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