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AAS 12-054MONOCULAR 3D SLAMUSING A VISUAL LANDMARK DATABASE FOR AUTONOMOUSNAVIGATION NEAR SMALL CELESTIAL BODIESCedric Cocaud * and Takashi Kubota †Close proximity operations near small celestial bodies adds a new range of problemsrequiring more autonomy, more precision and more flexibility from the navigationsoftware. Addressing these problems, this paper focuses on a 3D monocular SLAMbased on the Rao-Blackwellized Particle Filter approach using a hybrid mapping modulecombining binary search trees acting as a visual landmark signature catalog, and anoctree occupancy grid meant to offer a spatial representation of the landmark uncertaintydistribution. SLAM motion estimation is performed at the beginning of each timestep according to a probabilistic scheme based on fast linear visual pose estimation algorithms,sampling probable motion estimates from subgroups of visual featuresmatched across pairs of subsequent navigation camera images. The autonomousSLAM-based navigation scheme estimates the spacecraft position and attitude – or pose– at each time step by picking the most probable pose from a sample population of particlesrepresenting different hypotheses on the spacecraft path and the landmark distributionconditioned on it. A low-pass filter processes the raw output of the SLAM toprovide a smoother response that can be used by a conventional trajectory tracking controller.[View Full Paper]* Department of Electrical Engineering, University of Tokyo, ISAS campus 3-1-1 Yoshinodai, Sagamihara,Kanagawa 229-8510, Japan. Tel. 81-42-759-8311, E-mail: cedric.cocaud@ac.jaxa.jp.† Institute of Space and Astronautical Science (ISAS-JAXA), ISAS campus 3-1-1 Yoshinodai, Sagamihara,Kanagawa 229-8510, Japan. Tel. 81-42-759-8311, E-mail: kubota@isas.jaxa.jp.25