Elevation modeling and motion tracking using a binocular camera system with seven degrees of freedom

The autonomous navigation of a spacecraft during descent and landing using a computer vision system has been recognized as a key to the feasibility of interplanetary missions. One possible approach for navigation is to compute an elevation model and high level description of the planetary body during orbit, and use this information jointly with real-time dynamic range estimation and tracking to navigate the spacecraft. The authors describe a vision system that is used to navigate the spacecraft during descent. The final goal is to position a roving vehicle on a selected landing site and position it on its trajectory. The methods studied should be applicable to the landing phase and later on also in the autonomous motion of the rover on the surface.