Considerations Using Iterative Closest Point in Presence of Occlusions in Automated Aerial Refueling

Author

Joel M. Miller

Date of Award

3-2022

Document Type

Thesis

Degree Name

Master of Science in Computer Engineering

Department

Department of Electrical and Computer Engineering

First Advisor

Scott L. Nykl, PhD

Abstract

The United States Air Force is researching vision-based AAR and different methods for this actualization. Previous work has established a computer vision based pipeline with ICP. This work focuses on how ICP can become resilient to boom occlusion by minimizing errors and discusses the limitations of ICP in the face of occlusions. Specifically, we look at various filtering techniques to remove non-salient points. To register point clouds while maintaining real time interactivity, this work also presents a method for downsampling high resolution camera calibrations to preserve real-time processing and significantly decrease the vision pipeline latency.

AFIT Designator

AFIT-ENG-MS-22-M-047

Comments

Approved for public release, 88ABW-2022-0119.

A 12-month embargo was observed.

Recommended Citation

Miller, Joel M., "Considerations Using Iterative Closest Point in Presence of Occlusions in Automated Aerial Refueling" (2022). Theses and Dissertations. 6911.
https://scholar.afit.edu/etd/6911