Robust Tumbling Target Reconstruction through Fusion of Vision and LIDAR for Autonomous Rendezvous and Docking On-Orbit

This milestones report details progress toward 3D target reconstruction through fusion of vision and LIDAR data. The utility of using both vision and LIDAR for on-orbit target reconstruction is first presented. The technical approach, including a new camera-LIDAR Structure from Motion (SfM) framework, is next presented, though this technical framework is provisional at present. Validation methodology and expected results through simulation and hardware experimentation is outlined.. Finally, specific milestones met thusfar are outlined.