VERTIGO: A Vision Based Navigation Upgrade to the SPHERES Satellites That Will Perform Visual Simultaneous Localization and Mapping of Non-Cooperative, Tumbling Targets

The Visual Estimation for Relative Tracking and Inspection of Generic Objects (VERTIGO) program is developing computer vision based navigation and mapping algorithms capable of building a three-dimensional map of another unknown, non-cooperative target object and performing relative navigation solely by reference to this three-dimensional model. The principal open research problem that is being investigated in the VERTIGO program is how to perform this mapping and navigation when the target object is tumbling and translating with significant velocities (i.e. an upper stage that is spin stabilized at 20 RPM). In order to test these algorithms, the VERTIGO program will design, build, test and launch, to the International Space Station, a hardware upgrade to the SPHERES satellites. This hardware upgrade includes stereo cameras, an upgraded processor (1.2 GHz x86 Linux Computer), a high-speed communications system (802.11n) and additional batteries. This hardware package is collectively known as the SPHERES Goggles. A prototype version of the SPHERES Goggles was built under the Low Impact Inspection Vehicle (LIIVe) Program with the US Naval Research Laboratory.