A Parallelized Iterative Closest Point Algorithm for Attitude Estimation
MetadataShow full item record
In recent decades, low-earth orbital debris has become a major concern. If the density of objects in orbit is too high, and nothing is done to remove any debris, there could be a cascade of collisions, each generating more debris, increasing the frequency of collisions even further. This would render future space missions very difficult and dangerous, if not impossible. Something must be done to remove space debris from orbit. This thesis attempts to solve one piece of the orbital debris problem – that is, tracking a piece of debris and determining its attitude and position relative to a capture vehicle. A LIDAR camera is used to acquire images of the body to be tracked. To achieve a fast and practical solution, a parallelized Iterative Closest Point (ICP) algorithm and a Kalman filter are implemented to track the attitude and position of a model rocket booster. Additionally, this thesis presents a method to increase ICP's accuracy and reliability by artificially increasing image resolution by algorithmically increasing image size. This work also explores the performance of different variations of ICP and the dependency of their performance on image size.
SubjectParallelized Iterative Closest Point
Jarratt, Amber Sue (2016). A Parallelized Iterative Closest Point Algorithm for Attitude Estimation. Master's thesis, Texas A & M University. Available electronically from
Showing items related by title, author, creator and subject.
Impact of nutrient loading from point and non-point sources on water quality and lotic ecosystem health in Texas' north-Bosque watershed using a bio-indicator response approach Rodriguez, Angela Dean (Texas A&M University, 2001)Nutrient enrichment in the LakeWaco/Bosque watershed in north central Texas has resulted in declining water quality, and ecological degradation of stream habitat. This study was conducted to characterize the spatial and ...
An Archaeological Survey of an Alternate Dredge Decant Line and Drop Structure in Northern Calhoun County, Texas for the Alcoa World Alumina LLC, Point Comfort Operations Located in Point Comfort, Texas Moore, William (2015-07-07)An archaeological survey of the location of the site of a proposed dredge decant line and drop structure in northern Calhoun County, Texas was performed by Brazos Valley Research Associates (BVRA) on April 30, 2003 and May ...
Point-to-Point Verification of Monitored Sensors at Reynolds Army Clinic and Hospital Final Report Martinez, J.; Linenschmidt, S.; Turner, D. (2004-10)A point-to-point verification of the heating, ventilating, and air conditioning (HVAC) system of the Reynolds Army Community Hospital (RACH) in Fort Sill, Oklahoma was done by the Energy Systems Laboratory (ESL) of Texas ...