Seminars and Events at automatic control
All seminars are held at the Department of Automatic Control, in the seminar room M 3170-73 on the third floor in the M-building, unless stated otherwise.
Master Thesis presentation by Daniel Eklund: 6D Pose Estimation and Calibration for Autonomous On-Orbit Servicing using the OOS-Sim
Examensarbete
From:
2025-11-28 09:00
to
22:00
Place: Small conference room M:2484 in the M-building, LTH
Contact: bjorn [dot] olofsson [at] control [dot] lth [dot] se
Date & Time: November 28th, 09:00-10:00
Location: Small conference room M:2484 in the M-building, LTH
Author: Daniel Eklund
Title: 6D Pose Estimation and Calibration for Autonomous On-Orbit Servicing using the OOS-Sim
Supervisor: Björn Olofsson (Dept. Automatic Control, LTH), Maximilian Ulmer (DLR), Anne Reichert (DLR)
Examiner: Yiannis Karayiannidis, Dept. Automatic Control, LTH
Abstract:
Reliable six-degree-of-freedom pose estimation is a key requirement for autonomous on-orbit servicing (OOS), in which a robotic spacecraft performs tasks such as inspection, maintenance, and life extension of other satellites in orbit. However, generating trustworthy ground truth for algorithm development remains challenging. This thesis investigates calibration, sensor evaluation, and sensor fusion for the OOS-SIM testbed at the German Aerospace Center, which combines industrial robots, a VICON motion capture system, and forward kinematics (FK) to emulate servicer–client satellite interactions. The thesis first formulates the system calibration as an AX = YB hand–eye problem and employs a linear solver to align VICON and FK measurements in a common world frame, achieving sub-millimetre and sub-tenth-degree calibration residuals.