sample.bib

 @inproceedings {laplacian,
booktitle = {Eurographics 2005 - State of the Art Reports},
editor = {Yiorgos Chrysanthou and Marcus Magnor},
title = {{Laplacian Mesh Processing}},
author = {Sorkine, Olga},
year = {2005},
publisher = {The Eurographics Association},
DOI = {10.2312/egst.20051044}
}


@Manual{blender,
   title = {Blender - a 3D modelling and rendering package},
   author = {Blender Online Community},
   organization = {Blender Foundation},
   address = {Stichting Blender Foundation, Amsterdam},
   year = {2018},
   url = {http://www.blender.org},
 }

@article{gaskell_ito,
author = {Gaskell, R. and Saito, J. and Ishiguro, M. and Kubota, T. and Hashimoto, T. and Hirata, N. and Abe, S. and Barnouin-Jha, O.},
year = {2020},
title = {Gaskell Itokawa Shape Model V1.0}, 
lab = {urn:nasa:pds:gaskell.ast-itokawa.shape-model::1.0. 
publisher = {NASA Planetary Data System}, 
doi = {10.26033/fejt-k595},}


@article{Barnouin2019,
abstract = {The shapes of asteroids reflect interplay between their interior properties and the processes responsible for their formation and evolution as they journey through the Solar System. Prior to the OSIRIS-REx (Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer) mission, Earth-based radar imaging gave an overview of (101955) Bennu's shape. Here we construct a high-resolution shape model from OSIRIS-REx images. We find that Bennu's top-like shape, considerable macroporosity and prominent surface boulders suggest that it is a rubble pile. High-standing, north–south ridges that extend from pole to pole, many long grooves and surface mass wasting indicate some low levels of internal friction and/or cohesion. Our shape model indicates that, similar to other top-shaped asteroids, Bennu formed by reaccumulation and underwent past periods of fast spin, which led to its current shape. Today, Bennu might follow a different evolutionary pathway, with an interior stiffness that permits surface cracking and mass wasting.},
author = {Barnouin, O. S.},
doi = {10.1038/s41561-019-0330-x},
file = {:Users/dahliabaker/Documents/GradSchool/Research/Papers/s41561-019-0330-x.pdf:pdf},
issn = {17520908},
journal = {Nature Geoscience},
mendeley-groups = {Lit Review for Paper No 1,YORP and Dynamics},
number = {4},
pages = {247--252},
title = {{Shape of (101955) Bennu indicative of a rubble pile with internal stiffness}},
volume = {12},
year = {2019}
}


@article{DellaGiustina2018,
abstract = {The OSIRIS-REx Asteroid Sample Return Mission is the third mission in National Aeronautics and Space Administration (NASA)'s New Frontiers Program and is the first U.S. mission to return samples from an asteroid to Earth. The most important decision ahead of the OSIRIS-REx team is the selection of a prime sample-site on the surface of asteroid (101955) Bennu. Mission success hinges on identifying a site that is safe and has regolith that can readily be ingested by the spacecraft's sampling mechanism. To inform this mission-critical decision, the surface of Bennu is mapped using the OSIRIS-REx Camera Suite and the images are used to develop several foundational data products. Acquiring the necessary inputs to these data products requires observational strategies that are defined specifically to overcome the challenges associated with mapping a small irregular body. We present these strategies in the context of assessing candidate sample sites at Bennu according to a framework of decisions regarding the relative safety, sampleability, and scientific value across the asteroid's surface. To create data products that aid these assessments, we describe the best practices developed by the OSIRIS-REx team for image-based mapping of irregular small bodies. We emphasize the importance of using 3-D shape models and the ability to work in body-fixed rectangular coordinates when dealing with planetary surfaces that cannot be uniquely addressed by body-fixed latitude and longitude.},
archivePrefix = {arXiv},
arxivId = {1810.10080},
author = {DellaGiustina, D. N. and Bennett, C. A. and others},
doi = {10.1029/2018EA000382},
eprint = {1810.10080},
issn = {23335084},
journal = {Earth and Space Science},
keywords = {Bennu,OCAMS images,OSIRIS-REx,asteroid,mapping,small bodies},
month = {dec},
number = {12},
pages = {929--949},
publisher = {Wiley-Blackwell Publishing Ltd},
title = {{Overcoming the Challenges Associated with Image-Based Mapping of Small Bodies in Preparation for the OSIRIS-REx Mission to (101955) Bennu}},
volume = {5},
year = {2018}
}
@inproceedings{Villa2020,
author = {Villa, Jacopo and Bandyopadhyay, Saptarshi and Morrell, Benjamin and Hockman, Benjamin and Lubey, Daniel and Harvard, Alexi and Chung, Soon-Jo and Bhaskaran, Shyamkumar and Nesnas, Issa A},
booktitle = {AAS GN{\&}C Conference},
file = {:Users/dahliabaker/Downloads/Villa{\_}AAS{\_}2020.pdf:pdf},
pages = {300},
title = {{Optical Navigation for Autonomous Approach of Small Unknown Bodies}},
year = {2020}
}
@inproceedings{Morrell2020,
abstract = {The autonomous approach of a spacecraft to an asteroid or comet (a small body) relies heavily on visual fea- ture tracking to aid in estimating relative trajectories and the properties of the small body. Feature tracking for small bodies brings several challenges, including changing lighting, poor visual texture, and a concentration of features in a small part of an image. Six existing, open-source algorithms for feature tracking were tested on a simulated dataset and compared to the ground truth in the path of features. The main finding is that none of the algorithms provide all of the desired characteristics of long feature tracks with low errors and few outliers. Instead, there is a trade-off between long feature tracks and low error. The feature-matching algorithms SIFT, and BRISK provide good error characteristics, but short feature tracks, whereas the optical flow algorithm KLT provides long feature tracks, but with many features of large error. Given the challenges in feature tracking, it is recommended to focus development on each component of a feature tracking system: detection, description, and outlier rejection.},
author = {Morrell, Benjamin and Villa, Jacopo and Bandyopadhyay, Saptarshi and Lubey, Daniel and Hockman, Benjamin},
booktitle = {AIAA Ascend},
file = {:Users/dahliabaker/Downloads/Automatic{\_}Feature{\_}Tracking{\_}on{\_}Small{\_}Bodies{\_}for{\_}Autonomous{\_}Approach.pdf:pdf},
title = {{Automatic Feature Tracking on Small Bodies for Autonomous Approach}},
year = {2020}
}
@inproceedings{Majji2020,
abstract = {Various image feature extraction methods are compared for terrain relative navigation applications. Qualitative and quantitative performance measures to evaluate the utility of the relevant feature identification methods are discussed to form a basis for this comparison process. A medium-fidelity terrain relative navigation emulation test-bed called Navigation, Estimation and Tracking (NEST) test-bed is utilized to generate terrain and range measurements to facilitate the evaluation process.},
address = {Orlando, Fl},
author = {Majji, Manoranjan and Simon, Andrew B. and Restrepo, Carolina I. and Lovelace, Ronney},
booktitle = {AIAA Scitech 2020 Forum},
doi = {10.2514/6.2020-0601},
file = {:Users/dahliabaker/Downloads/6.2020-0601.pdf:pdf},
isbn = {9781624105951},
number = {January},
pages = {1--12},
title = {{A comparison of feature extraction methods for terrain relative navigation}},
year = {2020}
}
@article{Christian2020,
abstract = {Image-based terrain relative navigation is expected to play an important role in the safe operation of upcoming lunar exploration missions. This work provides a detailed treatment of how visual odometry direction-of-motion measurements maybe constructed using imagesfromamonocularcameraandwithout the need ofanonboardmapof the lunar surface. Substantial care is required to achieve best-possible navigation performance, which numerical studies indicate is sufficient to enable many types of autonomous navigation. Results are shown for historical Apollo images and for synthetic images. While visual odometry alone may not meet every mission's needs, it is a powerful technique that should be a part of every professional spacecraft navigator's toolkit.},
author = {Christian, John A},
doi = {10.2514/1.A34875},
file = {:Users/dahliabaker/Documents/GradSchool/Research/Papers/1.a34875.pdf:pdf},
journal = {Journal of Spacecraft and Rockets},
keywords = {No map,TRN},
mendeley-tags = {No map,TRN},
pages = {1--18},
title = {{Image-Based Lunar Terrain Relative Navigation without a Map: Measurements}},
url = {https://doi.org/10.2514/1.A34875{\%}0AImage-based},
year = {2020}
}
@article{Barnouin2019,
abstract = {The shapes of asteroids reflect interplay between their interior properties and the processes responsible for their formation and evolution as they journey through the Solar System. Prior to the OSIRIS-REx (Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer) mission, Earth-based radar imaging gave an overview of (101955) Bennu's shape. Here we construct a high-resolution shape model from OSIRIS-REx images. We find that Bennu's top-like shape, considerable macroporosity and prominent surface boulders suggest that it is a rubble pile. High-standing, north–south ridges that extend from pole to pole, many long grooves and surface mass wasting indicate some low levels of internal friction and/or cohesion. Our shape model indicates that, similar to other top-shaped asteroids, Bennu formed by reaccumulation and underwent past periods of fast spin, which led to its current shape. Today, Bennu might follow a different evolutionary pathway, with an interior stiffness that permits surface cracking and mass wasting.},
doi = {10.1038/s41561-019-0330-x},
file = {:Users/dahliabaker/Documents/GradSchool/Research/Papers/s41561-019-0330-x.pdf:pdf},
issn = {17520908},
journal = {Nature Geoscience},
number = {4},
pages = {247--252},
title = {{Shape of (101955) Bennu indicative of a rubble pile with internal stiffness}},
volume = {12},
year = {2019}
}
@article{Bercovici2019,
abstract = {This paper proposes an algorithm relying on range images to reconstruct the shape model of the orbited object, train an uncertainty model representative of shape reconstruction inaccuracies and sensor noise using a maximumlikelihood approach combined with a particle-swarm optimizer, and perform model-based relative navigation by comparing range measurements from the onboard shape model to those provided by a light-detection-and-ranging sensor. The presented algorithm yielded a satisfying estimate of the shape model of interest (point-cloud-to-shape RMS residuals of 0.497 m), along with a consistent range error metric that was trained by means of likelihood maximization over the measured range residuals. The reconstructed shape model of asteroid Itokawa and its associated uncertainty metric were used by an iterated extended Kalman filter for navigation. The filter returned an estimate of the spacecraft state and asteroid attitude that was consistent with the covariance envelopes, despite the defects in the reconstructed shape.},
author = {Bercovici, Benjamin and McMahon, Jay W.},
doi = {10.2514/1.G003898},
file = {:Users/dahliabaker/Documents/GradSchool/Research/Papers/1.g003898.pdf:pdf},
issn = {15333884},
journal = {Journal of Guidance, Control, and Dynamics},
number = {7},
pages = {1473--1488},
title = {{Robust autonomous small-body shape reconstruction and relative navigation using range images}},
volume = {42},
year = {2019}
}
@article{Christian2010,
abstract = {Autonomous spacecraft navigation, or the ability of a spacecraft to navigate indepen- dent of Earth-based resources, is a topic of growing importance. Many important mission scenarios either require or would greatly benefit such a capability. An end-to-end study of navigation performance for two such scenarios is used to assess the viability of optical measurements as a solution to the problem of autonomous spacecraft navigation. In the first scenario, performance during a planetary y-by is assessed using real images taken during the MESSENGER spacecraft's June 2007 y-by of Venus. In the second scenario, performance during a lunar return is assessed using synthetically generated images of the Earth and Moon. {\textcopyright} 2010 by John A. Christian and E. Glenn Lightsey.},
author = {Christian, John A. and {Glenn Lightseyy}, E.},
doi = {10.2514/6.2010-8786},
file = {:Users/dahliabaker/Documents/GradSchool/Research/Papers/6.2010-8786.pdf:pdf},
isbn = {9781600869662},
journal = {AIAA SPACE Conference and Exposition 2010},
number = {September},
title = {{Integrated performance of an autonomous optical navigation system for space exploration}},
year = {2010}
}
@article{Pesce2018,
abstract = {Autonomous mapping and navigation around unknown small bodies is a challenging problem. In todays missions, small body mapping and navigation (SBMN) require significant human intervention on the ground for map refinement and supervision of the navigation and orbit selection process. Although current methodologies adequately performed in past missions (e.g., Rosetta, Hayabusa, Deep Space), they are not suitable for applications requiring a high level of autonomy. This work proposes a method for autonomous orbit selection and adaptation around a small body while mapping its surface. In particular, in this work, we will develop cost functions that quantify the orbit goodness in the sense of map improvement. In other words, we develop quantitative measures that characterize the accuracy of the small body map and use these measures in an optimization process to compute the next best orbit that maximally contributes to the map enhancement. The proposed framework reduces the human involvement in this process and takes a step toward the fully autonomous mapping and navigation around small bodies.},
author = {Pesce, Vincenzo and Agha-Mohammadi, Ali Akbar and Lavagna, Mich{\`{e}}le},
doi = {10.1109/AERO.2018.8396797},
file = {:Users/dahliabaker/Downloads/v18{\_}Conference{\_}smallBodyMapping.pdf:pdf},
isbn = {9781538620144},
issn = {1095323X},
journal = {IEEE Aerospace Conference Proceedings},
pages = {1--10},
title = {{Autonomous navigation {\&} mapping of small bodies}},
volume = {2018-March},
year = {2018}
}
@article{Bhaskaran2012,
abstract = {Autonomous navigation (AutoNav) for deep space missions is a unique capability that was developed at JPL and used successfully for every camera-equipped comet encounter flown by NASA (Borrelly, Wild 2, Tempel 1, and Hartley 2), as well as an asteroid flyby (Annefrank). AutoNav is the first on-board software to perform autonomous interplanetary navigation (image processing, trajectory determination, maneuver computation), and the first and only system to date to autonomously track comet and asteroid nuclei as well as target and intercept a comet nucleus. In this paper, the functions used by AutoNav and how they were used in previous missions are described. Scenarios for future mission concepts which could benefit greatly from the AutoNav system are also provided. {\textcopyright} 2012 by the American Institute of Aeronautics and Astronautics, Inc.},
author = {Bhaskaran, Shyam},
doi = {10.2514/6.2012-1267135},
file = {:Users/dahliabaker/Downloads/AutoNav{\_}Paper.pdf:pdf},
journal = {SpaceOps 2012 Conference},
keywords = {AutoNav},
mendeley-tags = {AutoNav},
title = {{Autonomous navigation for deep space missions}},
year = {2012}
}
@article{Li2013,
abstract = {As Earth-based radio tracking navigation is severely limited because of communications constraints and low relative navigation accuracy, autonomous optical navigation capabilities are essential for both robotic and manned deep-space exploration missions. Image processing is considered one of the key technologies for autonomous optical navigation to extract high-precision navigation observables from a raw image. New image processing algorithms for deep-space autonomous optical navigation are developed in this paper. First, multiple image pre-processing and the Canny edge detection algorithm are adopted to identify the edges of target celestial bodies and simultaneously remove the potential false edges. Secondly, two new limb profile fitting algorithms are proposed based on the Least Squares method and the Levenberg-Marquardt algorithm, respectively, with the assumption that the perspective projection of a target celestial body on the image plane will form an ellipse. Next, the line-of-sight (LOS) vector from the spacecraft to the centroid of the observed object is obtained. This is taken as the navigation measurement observable and input to the navigation filter algorithm. Finally, the image processing algorithms developed in this paper are validated using both synthetic simulated images and real flight images from the MESSENGER mission. Copyright {\textcopyright} 2013 The Royal Institute of Navigation.},
author = {Li, Shuang and Lu, Ruikun and Zhang, Liu and Peng, Yuming},
doi = {10.1017/S0373463313000131},
file = {:Users/dahliabaker/Downloads/J-2013-ImageProcOpNav.pdf:pdf},
issn = {03734633},
journal = {Journal of Navigation},
keywords = {Autonomous optical navigation,Centroid extracting,Ellipse fitting,Image processing,canny operator,image processing},
mendeley-tags = {canny operator,image processing},
number = {4},
pages = {605--623},
title = {{Image processing algorithms for deep-space autonomous optical navigation}},
volume = {66},
year = {2013}
}
@inproceedings{Driver,
annote = {This work basically did what I would like to do, and did it better},
author = {Driver, Travis and Dor, Mehregan and Skinner, Katherine A and Tsiotras, Panagiotis},
file = {:Users/dahliabaker/Documents/GradSchool/Research/Papers/AASTahoe{\_}papers/Space{\_}carving{\_}in{\_}space.pdf:pdf},
pages = {1--20},
title = {{ AAS 20-661 SPACE CARVING IN SPACE : A VISUAL-SLAM APPROACH TO 3D SHAPE RECONSTRUCTION OF A SMALL CELESTIAL BODY}}
}
@article{Lorenz2017,
abstract = {The Origins, Spectral Interpretation, Resource Identification, Security-Regolith Explorer (OSIRIS-REx) spacecraft launched on September 8, 2016 to embark on an asteroid sample return mission. It is expected to rendezvous with the asteroid, Bennu, navigate to the surface, collect a sample (July'20), and return the sample to Earth (September'23). The original mission design called for using one of two Flash Lidar units to provide autonomous navigation to the surface. Following Preliminary design and initial development of the Lidars, reliability issues with the hardware and test program prompted the project to begin development of an alternative navigation technique to be used as a backup to the Lidar. At the critical design review, Natural Feature Tracking (NFT) was added to the mission. NFT is an onboard optical navigation system that compares observed images to a set of asteroid terrain models which are rendered in real-time from a catalog stored in memory on the flight computer. Onboard knowledge of the spacecraft state is then updated by a Kalman filter using the measured residuals between the rendered reference images and the actual observed images. The asteroid terrain models used by NFT are built from a shape model generated from observations collected during earlier phases of the mission and include both terrain shape and albedo information about the asteroid surface. As a result, the success of NFT is dependent on selecting a set of topographic features that can be both identified during descent as well as reliably rendered using the shape model data available. During development, the OSIRIS-REx team faced significant challenges in developing a process conducive to robust operation. This was especially true for terrain models to be used as the spacecraft gets close to the asteroid and higher fidelity models are required for reliable image correlation. This paper will present some of the challenges and lessons learned from the development of the NFT system which includes not just the flight hardware and software but the development of the terrain models used to generate the onboard rendered images.},
author = {Lorenz, David A. and Olds, Ryan and May, Alexander and Mario, Courtney and Perry, Mark E. and Palmer, Eric E. and Daly, Michael},
doi = {10.1109/AERO.2017.7943684},
file = {:Users/dahliabaker/Documents/GradSchool/Research/Papers/orex{\_}nft.pdf:pdf},
isbn = {9781509016136},
issn = {1095323X},
journal = {IEEE Aerospace Conference Proceedings},
keywords = {NFT,Orex,TRN},
mendeley-tags = {NFT,Orex,TRN},
publisher = {IEEE},
title = {{Lessons learned from OSIRIS-REx autonomous navigation using natural feature tracking}},
year = {2017}
}
@article{Canny1986,
author = {Canny, John},
file = {:Users/dahliabaker/Documents/GradSchool/Research/Papers/canny{\_}paper.pdf:pdf},
number = {6},
title = {{A Computational Approach to Edge Detection}},
year = {1986}
}
@article{Scheeres2006,
author = {Scheeres, D J and Gaskell, R W and Abe, Shinsuke and Barnouin, O S},
doi = {10.2514/6.2006-6661},
file = {:Users/dahliabaker/Documents/GradSchool/Research/Papers/The{\_}Actual{\_}Dynamical{\_}Environment{\_}About{\_}Itokawa.pdf:pdf},
number = {October 2014},
title = {{The Actual Dynamical Environment About Itokawa}},
year = {2006}
}
@article{Dietrich2020,
author = {Dietrich, Ann B. and McMahon, Jay W.},
doi = {10.2514/1.G004468},
file = {:Users/dahliabaker/Documents/GradSchool/Research/Papers/dietrich{\_}silhouette.pdf:pdf},
issn = {07315090},
journal = {Journal of Guidance, Control, and Dynamics},
number = {2},
pages = {310--318},
title = {{Filter initialization with three-dimensional Lidar images in proximity to small bodies}},
volume = {43},
year = {2020}
}
@article{Takahashi2011,
abstract = {The most crucial task for a spacecraft upon arriving at a small body is to determine the strength of the body's gravity field. This research proposes and models this initial characterization via a series of slow flybys and analyzes how rapidly the gravity field can be estimated and the precision to which it can be determined. Two analytical issues are addressed in this paper that are pertinent to the design of this characterization process and can be used to evaluate whether there is a need for lidar measurements. A new operational procedure called $\Delta$V ranging is proposed, which can eliminate the need for lidar during the initial characterization phase. Following this, the characterization of the gravity field is addressed by performing a covariance analysis around three asteroids: Itokawa, Didymos, and Eros, representing a two-order-of-magnitude difference in size. {\textcopyright} 2011 by Y. Takahashi and D. J. Scheeres. Published by the American Institute of Aeronautics and Astronautics, Inc.},
author = {Takahashi, Yu and Scheeres, D. J.},
doi = {10.2514/1.53722},
file = {:Users/dahliabaker/Documents/GradSchool/Research/Papers/deltavranging.pdf:pdf},
isbn = {6404632373},
issn = {07315090},
journal = {Journal of Guidance, Control, and Dynamics},
number = {6},
pages = {1815--1827},
title = {{Small-body postrendezvous characterization via slow hyperbolic flybys}},
volume = {34},
year = {2011}
}
@article{Hata2019,
author = {Hata, Kenji and Savarese, Silvio},
file = {:Users/dahliabaker/Documents/GradSchool/Research/Papers/03-epipolar-geometry.pdf:pdf},
journal = {Stanford-CS231A},
pages = {14},
title = {{CS231A Course Notes 3: Epipolar Geometry}},
year = {2019}
}
@inproceedings{Panicucci,
author = {Panicucci, Paolo and Lebreton, Jeremy and McMahon, Jay and Zenou, Emmanuel and Delpech, Michel},
booktitle = {AAS GN&C Conference},
file = {:Users/dahliabaker/Documents/Mendeley Desktop/Panicucci et al/AAS GN&C Conference/AAS_GNC_2020_v1.pdf:pdf},
mendeley-groups = {Comprehensive Exam Lit Review},
pages = {1--12},
title = {{Polyhedral Shape from Silhouettes for Small Body}},
year = {2020}
}
@article{Brochard2018,
author = {Brochard, R. and Lebreton, J.},
file = {:Users/dahliabaker/Documents/GradSchool/Research/Papers/1810.01423.pdf:pdf},
journal = {arXiv},
keywords = {abbreviations,acronyms,ads,airbus defence and space,bidirectional reflectance distribution function,brdf,computer vision,image rendering,navigation,raytracing,space exploration},
pages = {1--11},
title = {{Scientific image rendering for space scenes with the SurRender software}},
year = {2018}
}
@article{Boyer2003,
abstract = {This paper addresses the problem of computing visual hulls from image contours. We propose a new hybrid approach which overcomes the precision-complexity trade-off inherent to voxel based approaches by taking advantage of surface based approaches. To this aim, we introduce a space discretization which does not rely on a regular grid, where most cells are ineffective, but rather on an irregular grid where sample points lie on the surface of the visual hull. Such a grid is composed of tetrahedral cells obtained by applying a Delaunay triangulation on the sample points. These cells are carved afterward according to image silhouette information. The proposed approach keeps the robustness of volumetric approaches while drastically improving their precision and reducing their time and space complexities. It thus allows modeling of objects with complex geometry, and it also makes real time feasible for precise models. Preliminary results with synthetic and real data are presented.},
author = {Boyer, Edmond and Franco, Jean S{\'{e}}bastien},
doi = {10.1109/cvpr.2003.1211421},
file = {:Users/dahliabaker/Documents/GradSchool/Research/Papers/boyer{\_}franco{\_}cvpr03.pdf:pdf},
issn = {10636919},
journal = {Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition},
title = {{A hybrid approach for computing visual hulls of complex objects}},
volume = {1},
year = {2003}
}
@book{Savarese2007,
abstract = {Cast shadows are an informative cue to the shape of objects. They are particularly valuable for discovering object's concavities which are not available from other cues such as occluding boundaries. We propose a new method for recovering shape from shadows which we call shadow carving. Given a conservative estimate of the volume occupied by an object, it is possible to identify and carve away regions of this volume that are inconsistent with the observed pattern of shadows. We prove a theorem that guarantees that when these regions are carved away from the shape, the shape still remains conservative. Shadow carving overcomes limitations of previous studies on shape from shadows because it is robust with respect to errors in shadows detection and it allows the reconstruction of objects in the round, rather than just bas-reliefs. We propose a reconstruction system to recover shape from silhouettes and shadow carving. The silhouettes are used to reconstruct the initial conservative estimate of the object's shape and shadow carving is used to carve out the concavities. We have simulated our reconstruction system with a commercial rendering package to explore the design parameters and assess the accuracy of the reconstruction. We have also implemented our reconstruction scheme in a table-top system and present the results of scanning of several objects. {\textcopyright} Springer Science + Business Media, LLC 2006.},
author = {Savarese, Silvio and Andreetto, Marco and Rushmeier, Holly and Bernardini, Fausto and Perona, Pietro},
booktitle = {International Journal of Computer Vision},
doi = {10.1007/s11263-006-8323-9},
file = {:Users/dahliabaker/Documents/GradSchool/Research/Papers/shadow.pdf:pdf},
isbn = {1126300683},
issn = {09205691},
keywords = {3D reconstruction,Computer Vision,Shape from contours,Shape from shadows,Shape from silhouettes,Shape recovery},
number = {3},
pages = {305--336},
title = {{3D reconstruction by shadow carving: Theory and practical evaluation}},
volume = {71},
year = {2007}
}
@article{Rivera2020,
annote = {good paper with good suggestions on edge detection pre-processing steps and explanation for canny operator limitations},
author = {Rivera, Kalani R Danas and Peck, Mason A},
doi = {10.2514/6.2020-1837},
file = {:Users/dahliabaker/Library/Application Support/Mendeley Desktop/Downloaded/Rivera, Peck - 2020 - Autonomous Navigation Using Novel Sources at Jupiter.pdf:pdf},
keywords = {autonav,canny operator,image processing},
mendeley-tags = {autonav,canny operator,image processing},
number = {January},
pages = {1--14},
title = {{Autonomous Navigation Using Novel Sources at Jupiter}},
year = {2020}
}
@article{Christian2012,
abstract = {A new image-processing algorithm is presented that is capable of autonomously extracting optical navigation measurements from raw images taken by a spacecraft in the vicinity of a planet or moon. The algorithm is designed to support autonomous navigation onboard a spacecraft without Earth communication. The planet or moon is modeled as a triaxial ellipsoid and the two-dimensional image is fitted to the three-dimensional model using conic section curve fitting methods. The performance of this algorithm is demonstrated with real images of Earth, the moon, Venus, Mercury, and Phobos taken by spacecraft under different operating conditions. Analytic methods are also presented for computing the corresponding measurement covariance matrices and measurement sensitivity matrices. Copyright {\textcopyright} 2011 by Serhat Hosder.},
annote = {Focus on larger bodies where you can't see whole thing in one image
John Christian is a very smart man},
author = {Christian, John A. and Lightsey, E. Glenn},
doi = {10.2514/1.A32065},
file = {:Users/dahliabaker/Library/Application Support/Mendeley Desktop/Downloaded/Christian, Lightsey - 2012 - Onboard image-processing algorithm for a spacecraft optical navigation sensor system.pdf:pdf},
issn = {00224650},
journal = {Journal of Spacecraft and Rockets},
keywords = {image based modeling,opnav},
mendeley-tags = {image based modeling,opnav},
number = {2},
pages = {337--352},
title = {{Onboard image-processing algorithm for a spacecraft optical navigation sensor system}},
volume = {49},
year = {2012}
}
@article{Brand2004,
abstract = {We introduce an algebraic dual-space method for reconstructing the visual hull of a three-dimensional object from occluding contours observed in 2D images. The method exploits the differential structure of the manifold rather than parallax geometry, and therefore requires no correspondences. We begin by observing mat the set of 2D contour tangents determines a surface in a dual space where each point represents a tangent plane to the original surface. The primal and dual surfaces have a symmetric algebra: A point on one is orthogonal to its dual point and tangent basis on the other. Thus the primal surface can be reconstructed if the local dual tangent basis can be estimated. Typically this is impossible because the dual surface is noisy and riddled with tangent singularities due to self-crossings. We identify a directionally-indexed local tangent basis that is well-defined and estimable everywhere on the dual surface. The estimation procedure handles singularities in the dual surface and degeneracies arising from measurement noise. The resulting method has O(N) complexity for N observed contour points and gives asymptotically exact reconstructions of surfaces that are totally observable from occluding contours.},
author = {Brand, Matthew and Kang, Kongbin and Cooper, David B.},
doi = {10.1109/cvpr.2004.1315010},
file = {:Users/dahliabaker/Library/Application Support/Mendeley Desktop/Downloaded/Brand, Kang, Cooper - 2004 - Algebraic solution for the visual hull.pdf:pdf},
issn = {10636919},
journal = {Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition},
keywords = {math,visual hull},
mendeley-tags = {math,visual hull},
title = {{Algebraic solution for the visual hull}},
volume = {1},
year = {2004}
}
@article{Matusik2000,
abstract = {In this paper, we describe an efficient image-based approach to computing and shading visual hulls from silhoutte image data. Our algorithm takes advantage of epipolar geometry and incremental computation to achieve a constant rendering cost per rendered pixel. It does not suffer from the computation complexity, limited resolution, or quantization artifacts of previous volumetric approaches. We demonstrate the use of this algorithm in a real-time virtualized reality application running off a small number of video streams.},
author = {Matusik, W. and Buehler, C. and Raskar, R. and Gortler, S. J. and McMillan, L.},
doi = {10.1145/344779.344951},
file = {:Users/dahliabaker/Library/Application Support/Mendeley Desktop/Downloaded/Matusik et al. - 2000 - Image-based visual hulls.pdf:pdf},
journal = {Proceedings of the ACM SIGGRAPH Conference on Computer Graphics},
keywords = {Computer vision,Constructive solid geometry,Image-based rendering,Misc. rendering algorithms,math,visual hull},
mendeley-tags = {math,visual hull},
pages = {369--374},
title = {{Image-based visual hulls}},
year = {2000}
}
@article{Bandyonadhyay2019,
abstract = {In this paper, we present a novel Shape from Silhouette (SfS) algorithm to estimate the physical and dynamical properties of a small body-such as an asteroid or comet-from periodic images taken from a distant approaching spacecraft. Standard mapping techniques such as Stereo-Photo-Clinometry (SPC) and Stereo-Photo-Grammetry (SPG) are designed for close-proximity observations in which the body is 1000s of pixels in area, and there are enough surface features on the object. In contrast, our algorithms are suited for distant observations (i.e. during first approach) in which the body is only 10s-100s of pixels in area and does not present any useful visual features. First, using the Fast-Fourier-Transform of the light curve of the small body, we estimate its rotation rate. Then, using our novel silhouette-based 3D shape reconstruction technique, we estimate the shape and size of the small body and its pole of rotation. In this paper, we assume that the small body is performing pure rotation (no tumbling) about its principal axis, that the Sun is directly behind the spacecraft, and that the distance from the spacecraft to the small body is known. These algorithms have been tested using both simulated data from Comet 67P, Asteroids Eros and Itokawa; and real data from the Rosetta mission.},
annote = {Tested real and simulated data as well, but mostly simulated (interesting)},
author = {Bandyonadhyay, Santarshi and Nesnas, Issa and Bhaskaran, Shvam and Hockman, Beniamin and Morrell, Benjamin},
doi = {10.1109/AERO.2019.8741753},
file = {:Users/dahliabaker/Library/Application Support/Mendeley Desktop/Downloaded/Bandyonadhyay et al. - 2019 - Silhouette-Based 3D Shape Reconstruction of a Small Body from a Spacecraft.pdf:pdf},
isbn = {9781538668542},
issn = {1095323X},
journal = {IEEE Aerospace Conference Proceedings},
title = {{Silhouette-Based 3D Shape Reconstruction of a Small Body from a Spacecraft}},
volume = {2019-March},
year = {2019}
}
@article{Franco2009,
author = {Franco, Jean-s{\'{e}}bastien and Boyer, Edmond and Franco, Jean-s{\'{e}}bastien and Boyer, Edmond and Polyhedral, Efficient and Ieee, Silhouettes},
file = {:Users/dahliabaker/Library/Application Support/Mendeley Desktop/Downloaded/Franco et al. - 2009 - Efficient Polyhedral Modeling from Silhouettes To cite this version HAL Id inria-00349103 Efficient Polyhedral.pdf:pdf},
keywords = {shape from silhouette,visual hull},
mendeley-tags = {shape from silhouette,visual hull},
title = {{Efficient Polyhedral Modeling from Silhouettes To cite this version : HAL Id : inria-00349103 Efficient Polyhedral Modeling from Silhouettes}},
year = {2009}
}
@article{Christian2017,
abstract = {The use of images for spacecraft navigation is well established. Although these images have traditionally been processed by a human analyst on Earth, a variety of recent advancements have led to an increased interest in autonomous imaged-based spacecraft navigation. This work presents a comprehensive treatment of the techniques required to navigate using the lit limb of an ellipsoidal body (usually a planet or moon) in an image. New observations are made regarding the effect of surface albedo and terrain on navigation performance. Furthermore, study of this problem led to a new subpixel edge localization algorithm using Zernike moments, which is found to outperform existing methods for accurately finding the horizon's location in an image. The new limb localization technique is discussed in detail, along with extensive comparisons with alternative approaches. Theoretical results are validated through a variety of numerical examples.},
author = {Christian, John A.},
doi = {10.2514/1.A33692},
file = {:Users/dahliabaker/Library/Application Support/Mendeley Desktop/Downloaded/Christian - 2017 - Accurate planetary limb localization for image-based spacecraft navigation.pdf:pdf},
issn = {00224650},
journal = {Journal of Spacecraft and Rockets},
keywords = {image based modeling,opnav},
mendeley-tags = {image based modeling,opnav},
number = {3},
pages = {708--730},
title = {{Accurate planetary limb localization for image-based spacecraft navigation}},
volume = {54},
year = {2017}
}
@article{Thomas1989,
abstract = {Improved measurement techniques allow quantitative testing of the physical significance of the shapes of small satellites such as the possible occurrence of equilibrium ellipsoid forms. Shapes of the small satellites of Mars, Jupiter, Saturn, and Uranus have been measured using limb coordinates from spacecraft images. Limb-derived ellipsoidal models can measure volumes of irregular objects accurately: ellipsoidal models of Phobos and Deimos derived from limb coordinates are nearly identical to those obtained independently from stereogrammetry (Duxbury and Callahan 1988). These ellipsoidal approximations, however, are incomplete descriptions of the shapes of small satellites in that average residuals are much larger than measurement errors. Ellipsoidal models of eight small satellites compared with equilibrium ellipsoids show that shapes of even moderately irregular satellites are poor predictors of mean densities. Icy satellites smaller than mean radius (Rm) ≈ 150 km are irregularly shaped and have limb roughnesses of several percent of mean radius (RMS residuals .03-.08 Rm). There is no trend in roughness with size below Rm = 150 km. Larger icy satellites are ellipsoidal and have limb roughness below 0.01 Rm. "Rocky" satellites of Rm = 6-110 km are also irregularly shaped; the only larger rocky satellites are the Moon and Io (Rm = 1740 and 1820 km) which have roughnesses well below 0.01 Rm. Data on rocky satellites combined with published data for Ceres and Juno (Millis et al. 1981, 1987) suggest a gradual transition from irregular to ellipsoidal rocky objects. Limb topography and images suggest that the small satellites retain impact scars of diameter of up to 1.7 times the satellite mean radius. These large indentations are the primary difference in shape between small and large satellites. {\textcopyright} 1989.},
author = {Thomas, Peter C.},
doi = {10.1016/0019-1035(89)90089-4},
file = {:Users/dahliabaker/Library/Application Support/Mendeley Desktop/Downloaded/Thomas - 1989 - The shapes of small satellites.pdf:pdf},
issn = {10902643},
journal = {Icarus},
number = {2},
pages = {248--274},
title = {{The shapes of small satellites}},
volume = {77},
year = {1989}
}
@article{Mcmahon2018,
author = {McMahon, Jay and Scheeres, Daniel},
file = {:Users/dahliabaker/Library/Application Support/Mendeley Desktop/Downloaded/Mcmahon, Scheeres - 2018 - Autonomous Limb-based Shape Modeling ( and Optical Navigation ).pdf:pdf},
keywords = {shape modeling},
mendeley-tags = {shape modeling},
title = {{Autonomous Limb-based Shape Modeling ( and Optical Navigation )}},
year = {2018}
}
@article{Gaskell2008,
abstract = {Recent advances in the characterization of small body surfaces with stereophotoclinometry are {\&} discussed. The principal data output is an ensemble of landmark maps (L-maps), high-resolution topography/albedo maps of varying resolution that tile the surface of the body. Because they can have a resolution comparable to the best images, and can be located on a global reference frame to high accuracy, L-maps provide a significant improvement in discriminatory power for studies of small bodies, ranging from regolith processes to interior structure. These techniques are now being used to map larger bodies such as the Moon and Mercury. L-maps are combined to produce a standard global topography model (GTM) with about 1.57 million vectors and having a wide variety of applications. They can also be combined to produce high-resolution topography maps that describe local areas with much greater detail than the GTM. When combined with nominal predictions from other data sources and available data from other instruments such as LIDAR or RADAR, solutions for the spacecraft position and camera pointing are the most accurate available. Examples are drawn from studies of Phobos, Eros, and Itokawa, including surface characterization, gravity analysis, spacecraft navigation, and incorporation of LIDAR or RADAR data. This work has important implications for potential future missions such as Deep Interior and the level of navigation and science that can be achieved. {\textcopyright} The Meteoritical Society, 2008.},
author = {Gaskell, R. W. and Barnouin-Jha, O. S. and Scheeres, D. J. and Konopliv, A. S. and Mukai, T. and Abe, S. and Saito, J. and Ishiguro, M. and Kubota, T. and Hashimoto, T. and Kawaguchi, J. and Yoshikawa, M. and Shirakawa, K. and Kominato, T. and Hirata, N. and Demura, H.},
doi = {10.1111/j.1945-5100.2008.tb00692.x},
file = {:Users/dahliabaker/Library/Application Support/Mendeley Desktop/Downloaded/Gaskell et al. - 2008 - Characterizing and navigating small bodies with imaging data(2).pdf:pdf},
issn = {10869379},
journal = {Meteoritics and Planetary Science},
keywords = {image based modeling,nav},
mendeley-tags = {image based modeling,nav},
number = {6},
pages = {1049--1061},
title = {{Characterizing and navigating small bodies with imaging data}},
volume = {43},
year = {2008}
}
@article{Fujiwara2006,
author = {Fujiwara, A and Kawaguchi, J and Yeomans, D K and Abe, M and Mukai, T and Okada, T and Saito, J and Yano, H and Yoshikawa, M and Scheeres, D J and Cheng, A F and Demura, H and Gaskell, R W and Hirata, N and Ikeda, H and Kominato, T and Miyamoto, H and Nakamura, A M and Nakamura, R and Sasaki, S and Uesugi, K},
file = {:Users/dahliabaker/Library/Application Support/Mendeley Desktop/Downloaded/Fujiwara et al. - 2006 - The Rubble-Pile Asteroid Itokawa as.pdf:pdf},
number = {June},
pages = {1330--1334},
title = {{The Rubble-Pile Asteroid Itokawa as}},
volume = {312},
year = {2006}
}
@inproceedings{Liounis,
annote = {Use this paper to justify our method - it says you determine the scan lines by the observed subpixel limb locations that we extract from the image and our scan center vector},
author = {Liounis, Andrew J},
booktitle = {RPI Space Imaging Workshop},
file = {:Users/dahliabaker/Documents/Mendeley Desktop/Liounis/RPI Space Imaging Workshop/Liounis - Unknown - ( Preprint ) RPI LIMB-BASED OPTICAL NAVIGATION FOR IRREGULAR BODIES.pdf:pdf},
keywords = {asteroid specific,image based modeling,limb tracing,shape from silhouette},
mendeley-groups = {Lit Review for Paper No 1},
mendeley-tags = {asteroid specific,image based modeling,limb tracing,shape from silhouette},
number = {Code 595},
pages = {1--17},
title = {{Limb-Based Optical Navigation for Irregular Bodies}},
year = {2018}
}

@article{Pike2011,
author = {Pike, Richard J and Survey, M S U S Geological and Road, Middlefield and Park, Menlo},
keywords = {digital terrain modelling,geomorphology,geomorphometry,landform quantifica-,surface form,terrain,terrain analysis,tion,topography},
mendeley-tags = {terrain},
pages = {2011},
title = {{Geomorphometry -diversity in quantitative surface analysis}},
volume = {1},
year = {2011}
}
@article{Baldini2018,
annote = {Focused on estimating full asteroid attitude state frame, everything. Have to make a lot of assumptions but get a lot of estimatable data out of it.},
author = {Baldini, Francesca and Harvard, Alexei and Chung, Soon-jo},
file = {:Users/dahliabaker/Library/Application Support/Mendeley Desktop/Downloaded/Baldini, Harvard, Chung - 2018 - Autonomous Small Body Mapping and Spacecraft Navigation.pdf:pdf},
keywords = {autonav,math,shape modeling},
mendeley-tags = {autonav,math,shape modeling},
number = {October},
pages = {1--5},
title = {{Autonomous Small Body Mapping and Spacecraft Navigation}},
year = {2018}
}
@article{Broz2018,
author = {Bro{\v{z}}, M and Morbidelli, A},
doi = {https://doi.org/10.1016/j.icarus.2018.08.022},
issn = {0019-1035},
journal = {Icarus},
title = {{A study of 3-dimensional shapes of asteroid families with an application to Eos}},
url = {http://www.sciencedirect.com/science/article/pii/S0019103518303506},
year = {2018}
}
@article{Gaskell2008a,
author = {Gaskell, R W and Scheeres, D J and Konopliv, A S and Mukai, T and Abe, S},
file = {:Users/dahliabaker/Library/Application Support/Mendeley Desktop/Downloaded/Gaskell et al. - 2008 - Characterizing and navigating small bodies with imaging data.pdf:pdf},
keywords = {shape modeling},
mendeley-tags = {shape modeling},
number = {6},
pages = {1049--1061},
title = {{Characterizing and navigating small bodies with imaging data}},
volume = {1061},
year = {2008}
}
@article{Gaskell2004,
abstract = {An integrated profram for spacecraft navigation and determination of small body dynamics, shape, and high-resolution topography is discussed. Multiple image stereography and photoclinometry (shape from shading) are used to construct high resolution topographic and albedo maps, whose centers are treated as control points. These landmark maps are re-illuminated and correlated with images to act as body-fixed navigation tie-points. Their limb projections are compared with observed limb profiles to better fix their locations and the spacecraft pointing and positionn. Maps are also correlated with overlapping maps to better determine their body-fixed locations. Finally, a set of overlapping maps covering the body's surface is used to construct a high-resolution model for the body's shape and topography. Assuming a homogeneous mass distribution, such a model can be used to determine gravity harmonics for orbit prediction. These procedures are applicable to any mission involving an extended orbital phase, such as NEAR, Dawn, Deep Interior, or MESSENGER. Eventually, landmark maps could be uploaded to the spacecraft to allow for autonomous optical navigation. As a proof of concept for the Dawn mission, a small sample ({\textless}2000 images) of the available data from the NEAR mission has been used to construct a shape and topography model for Eros. The model is less noisy than the laser altimetry result and, for a homogenous mass distribution, it correlates better with observed gravity harmonics.},
annote = {Does Gaskell use microsoft word to write his articles},
author = {Gaskell, Robert W},
file = {:Users/dahliabaker/Library/Application Support/Mendeley Desktop/Downloaded/Gaskell - 2004 - Optical Only Determination of Small Body Shape and Topography.pdf:pdf},
keywords = {albedo,asteroid,astrogeology,eros,multiple images,phobos,photoclinometry,shape from shading},
pages = {1--28},
title = {{Optical Only Determination of Small Body Shape and Topography}},
year = {2004}
}
@inproceedings{Owen2011,
abstract = {Optical navigation is the use of onboard imaging to aid in the determination of the spacecraft trajectory and of the targets' ephemerides. Opnav techniques provide a direct measurement of the direction from a spacecraft to target bodies. Opnav data thus complement both radiometric tracking data (for instance, Doppler and range) and the groundbased astrometry which is used to determine the a priori ephemeris of the targets. We present the geometry and camera models which form the mathematical basis for optical navigation and some of the image processing techniques by which one can extract the optical observables—that is, the sample and line coordinates of images—from pictures.},
address = {New Orleans, Louisiana},
author = {Owen, William M},
booktitle = {AAS Spaceflight Mechanics Conference},
file = {:Users/dahliabaker/Library/Application Support/Mendeley Desktop/Downloaded/Owen - 2011 - METHODS OF OPTICAL NAVIGATION.pdf:pdf},
keywords = {opnav},
mendeley-tags = {opnav},
pages = {1--19},
publisher = {Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration},
title = {{Methods of Optical Navigation}},
year = {2011}
}
@article{Bhaskaran2011,
annote = {Not relevant, just a review and study on how well an established autonav method is working for landing scenarios on two types of bodies. Can't get anything from this},
author = {Bhaskaran, Shyam and Nandi, Sumita and Broschart, Stephen and Wallace, Mark and Cangahuala, L Alberto},
file = {:Users/dahliabaker/Library/Application Support/Mendeley Desktop/Downloaded/Bhaskaran et al. - 2011 - Small Body Landings Using Autonomous Onboard Optical Navigation.pdf:pdf},
number = {3},
pages = {409--427},
title = {{Small Body Landings Using Autonomous Onboard Optical Navigation}},
volume = {58},
year = {2011}
}
@article{Bayard2008,
abstract = {A methodology is summarized for designing on-board state estimators in support of spacecraft exploration of small bodies such as asteroids and comets. This paper focuses on an estimation algorithm that incorporates two basic computer-vision measurement types: a landmark table (LMT) and a paired feature table (PFT). Several innovations are developed to incorporate these measurement types into the on-board state estimation algorithm. Simulations are provided to demonstrate the feasibility of the approach.},
annote = {Talks about landmark table and paired feature table and how they are used for onboard state estimation
guidance and navigation
specifically about small bodies
This paper discusses what to do with data after you extract it using SIFT, Kalman filters, attitude sensors, etc.},
author = {Bayard, David S. and Brugarolas, Paul B.},
doi = {10.1109/TAES.2008.4517002},
file = {:Users/dahliabaker/Library/Application Support/Mendeley Desktop/Downloaded/Bayard, Brugarolas - 2008 - On-board vision-based spacecraft estimation algorithm for small body exploration.pdf:pdf},
isbn = {0018-9251},
issn = {00189251},
journal = {IEEE Transactions on Aerospace and Electronic Systems},
keywords = {Asteroid specific,GN{\&}C},
mendeley-tags = {Asteroid specific,GN{\&}C},
number = {1},
pages = {243--260},
title = {{On-board vision-based spacecraft estimation algorithm for small body exploration}},
volume = {44},
year = {2008}
}
@article{Tanimoto2013,
abstract = {In this paper, we consider fast simultaneous estimation problem of the geometric shape of the asteroid and the relative motion of the spacecraft. In asteroid exploration missions, the information of asteroid shape and motion is needed to find suitable landing sites and navigate the spacecraft safely. In the previous HAYABUSA mission, large part of the estimation was performed manually by ground operators. We propose an efficient automatic estimation method using the image feature matching and matrix decomposition based fast 3D reconstruction techniques. Preliminary experiment results are also shown.},
annote = {Really thorough computational investigation, doesn't go too far into math and what they have is very easy to understand
So many good graphics to describe the procedure
This paper came before the other SLAM papers and seems like they are simply trying to wrap their own heads around the problem instead of going too far into it
They were making their own method to enhance SLAM for asteroid efforts},
author = {Tanimoto, Akira and Takeishi, Naoya and Yairi, Takehisa and Tsuda, Yuichi and Terui, Fuyuto and Ogawa, Naoko and Mimasu, Yuya},
doi = {10.1109/ROBIO.2013.6739687},
file = {:Users/dahliabaker/Library/Application Support/Mendeley Desktop/Downloaded/Tanimoto et al. - 2013 - Fast estimation of asteroid shape and motion for spacecraft navigation.pdf:pdf},
isbn = {9781479927449},
journal = {2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013},
keywords = {Algorithm,Asteroid specific,SLAM},
mendeley-tags = {Algorithm,Asteroid specific,SLAM},
number = {December},
pages = {1550--1555},
title = {{Fast estimation of asteroid shape and motion for spacecraft navigation}},
year = {2013}
}
@article{Nister2004,
abstract = {An efficient algorithmic solution to the classical five-point relative pose problem is presented. The problem is to find the possible solutions for relative camera motion between two calibrated views given five corresponding points. The algorithm consists of computing the coefficients of a tenth degree polynomial and subsequently finding its roots. It is the first algorithm well suited for numerical implementation that also corresponds to the inherent complexity of the prob- lem. The algorithm is used in a robust hypothesise-and-test framework to estimate structure and motion in real-time.},
annote = {Was this pre-SLAM?
Seems like it is part of the general scheme of a SLAM algorithm
Good paper for some background
Mathematical theory description},
author = {Nister, David},
doi = {10.1109/TPAMI.2004.17},
file = {:Users/dahliabaker/Library/Application Support/Mendeley Desktop/Downloaded/Nister - 2004 - An Efficient Solution to the Five-Point Relative Pose Problem.pdf:pdf},
isbn = {0-7695-1900-8},
issn = {01628828},
keywords = {Feature detection,Math,camera calibration,ego-,imaging geometry,motion,motion estimation,relative orien-,scene reconstruction,structure from motion,tation},
mendeley-tags = {Feature detection,Math},
number = {6},
pages = {756--770},
pmid = {18579936},
title = {{An Efficient Solution to the Five-Point Relative Pose Problem}},
volume = {26},
year = {2004}
}
@article{Bernardini1999,
abstract = {The Ball-Pivoting Algorithm (BPA) computes a triangle mesh interpolating a given point cloud. Typically, the points are surface samples acquired with multiple range scans of an object, The principle of (he BPA is very simple: Three points form a triangle if a ball of a user-specified radius p touches them without containing any other point. Starting with a seed triangle, the ball pivots around an edge (i.e., it revolves around the edge while keeping in contact with the edge's endpoints) until it touches another point, forming another triangle, The process continues until all reachable edges have been tried, and then starts from another seed triangle, until all points have been considered. The process can then be repeated with a ball of larger radius to handle uneven sampling densities. We applied the BPA to datasets of millions of points representing actual scans of complex 3D objects. The relatively small amount of memory required by the BPA, its time efficiency, and the quality of the results obtained compare favorably with existing techniques. {\textcopyright} 1999 IEEE.},
author = {Bernardini, Fausto and Mittleman, Joshua and Rushmeier, Holly and Silva, Claudio and Taubin, Gabriel},
doi = {10.1109/2945.817351},
file = {:Users/dahliabaker/Documents/GradSchool/Research/Papers/bernardini99.pdf:pdf},
issn = {10772626},
journal = {IEEE Transactions on Visualization and Computer Graphics},
keywords = {3d scanning,Point cloud,Range image,Shape reconstruction},
number = {4},
pages = {349--359},
title = {{The ball-pivoting algorithm for surface reconstruction}},
volume = {5},
year = {1999}
}
@inproceedings{DiAngelo2011,
abstract = {a previous paper these authors presented a new mesh-growing approach based on the Gabriel 2 – Simplex (G2S) criterion. If compared with the Cocone family and the Ball Pivoting methods, G2S demonstrated to be competitive in terms of tessellation rate, quality of the generated triangles and defectiveness produced when the surface to be reconstructed was locally flat. Nonetheless, its major limitation was that, in the presence of a mesh which was locally non – flat or which was not sufficiently sampled, the method was less robust and holes and non – manifold vertices were generated. In order to overcome these limitations, in this paper, the performance of the G2S mesh-growing method is fully improved in terms of robustness. Method: For this purpose, an original priority queue for the driving of the front growth and a post processing to efficiently erase the non–manifold vertices are proposed. Result: The performance of the new version of the G2S approach has been compared with that of the old one, and that of the Cocone family and the Ball Pivoting methods in the tessellation of some benchmark point clouds and artificially noised test cases. The results derived from these experiments show that the improvements being proposed and implemented prevent the generation of non–manifold vertices and render the new version more robust than the old one. This performance improvement is achieved by a small reduction of the tessellation rate as opposed to the old version; the rate is still, however, at least an order of magnitude higher than the other methods here considered (the Cocone family and the Ball Pivoting methods). Discussion {\&} Conclusion: The results obtained show that the use of the new version of G2S is advantageous, as opposed to the other methods here considered, even in the case of noised point clouds. In fact, since it does not perform the smoothing of points, not even in the presence of very noised meshes, the new version of G2S, while producing more holes than the Robust Cocone and the Ball Pivoting, nonetheless manages to preserve the manifoldness and important details of the object.},
author = {{Di Angelo}, L. and Giaccari, L.},
booktitle = {IMProVE 2011},
file = {:Users/dahliabaker/Documents/GradSchool/Research/LimbTracing/papers for project/robust{\_}crust.pdf:pdf},
keywords = {surface reconstruction},
pages = {177--186},
title = {{A fast algorithm for manifold reconstruction of surfaces}},
year = {2011}
}

@inproceedings{Berry2013,
abstract = {The Origins Spectral Interpretation Resource Identification Security Regolith Explorer (OSIRIS-REx) mission is a NASA New Frontiers mission launching in 2016 to rendezvous with the near-Earth asteroid (101955) 1999 RQ36 in late 2018. After several months in formation with and orbit about the asteroid, OSIRIS-REx will fly a Touch-And-Go (TAG) trajectory to the asteroid's surface to obtain a regolith sample. This paper describes the mission design of the TAG sequence and the propulsive maneuvers required to achieve the trajectory. This paper also shows preliminary results of orbit covariance analysis and Monte-Carlo analysis that demonstrate the ability to arrive at a targeted location on the surface of RQ36 within a 25 meter radius with 98.3{\%} confidence. Copyright {\textcopyright} 2013 by The Charles Stark Draper Laboratory, Inc.},
address = {Breckenride, CO},
author = {Berry, Kevin and Sutter, Brian and May, Alex and Williams, Ken and Barbee, Brent W. and Beckman, Mark and Williams, Bobby},
booktitle = {36th Annual AAS Guidance and Control Conference},
file = {:Users/dahliabaker/Documents/GradSchool/Research/Papers/20130013409.pdf:pdf},
issn = {00653438},
pages = {1--12},
title = {{OSIRIS-REx Touch-and-Go (TAG) Mission Design and Analysis}},
year = {2013}
}

@article{Lauretta2019,
abstract = {NASA'S Origins, Spectral Interpretation, Resource Identification and Security-Regolith Explorer (OSIRIS-REx) spacecraft recently arrived at the near-Earth asteroid (101955) Bennu, a primitive body that represents the objects that may have brought prebiotic molecules and volatiles such as water to Earth1. Bennu is a low-albedo B-type asteroid2 that has been linked to organic-rich hydrated carbonaceous chondrites3. Such meteorites are altered by ejection from their parent body and contaminated by atmospheric entry and terrestrial microbes. Therefore, the primary mission objective is to return a sample of Bennu to Earth that is pristine—that is, not affected by these processes4. The OSIRIS-REx spacecraft carries a sophisticated suite of instruments to characterize Bennu's global properties, support the selection of a sampling site and document that site at a sub-centimetre scale5–11. Here we consider early OSIRIS-REx observations of Bennu to understand how the asteroid's properties compare to pre-encounter expectations and to assess the prospects for sample return. The bulk composition of Bennu appears to be hydrated and volatile-rich, as expected. However, in contrast to pre-encounter modelling of Bennu's thermal inertia12 and radar polarization ratios13—which indicated a generally smooth surface covered by centimetre-scale particles—resolved imaging reveals an unexpected surficial diversity. The albedo, texture, particle size and roughness are beyond the spacecraft design specifications. On the basis of our pre-encounter knowledge, we developed a sampling strategy to target 50-metre-diameter patches of loose regolith with grain sizes smaller than two centimetres4. We observe only a small number of apparently hazard-free regions, of the order of 5 to 20 metres in extent, the sampling of which poses a substantial challenge to mission success.},
author = {Lauretta, D. S. and DellaGiustina, D. N. and Bennett, C. A. and Golish, D. R. and Becker, K. J. and Balram-Knutson, S. S. and Barnouin, O. S. and Becker, T. L. and Bottke, et.al.},
doi = {10.1038/s41586-019-1033-6},
file = {:Users/dahliabaker/Documents/GradSchool/Research/Papers/s41586-019-1033-6.pdf:pdf},
issn = {14764687},
journal = {Nature},
mendeley-groups = {Lit Review for Paper No 1},
number = {7750},
pages = {55--60},
pmid = {30890786},
title = {{The unexpected surface of asteroid (101955) Bennu}},
volume = {568},
year = {2019}
}

@inproceedings{Gaskell2006,
author = {Gaskell, R. and Barnouin-Jha, O. and Scheeres, D. and Mukai, T. and Hirata, N. and Abe, S. and Saito, J. and Ishiguro, M. and Kubota, T. and Hashimoto, T. and Kawaguchi, J. and Yoshikawa, M. and Shirakawa, K. and Kominato, T.},
booktitle = {Collection of Technical Papers - AIAA/AAS Astrodynamics Specialist Conference, 2006},
doi = {10.2514/6.2006-6660},
file = {:Users/dahliabaker/Documents/GradSchool/Research/Papers/AIAA-2006-6660-271.pdf:pdf},
isbn = {1563478226},
number = {August},
pages = {1541--1552},
title = {{Landmark navigation studies and target characterization in the hayabusa encounter with itokawa}},
volume = {3},
year = {2006}
}
@article{Rizk2017,
abstract = {The requirements-driven OSIRIS-REx Camera Suite (OCAMS) acquires images essential to collecting a sample from the surface of Bennu. During proximity operations, these images document the presence of satellites and plumes, record spin state, enable an accurate digital terrain model of the asteroid's shape, and identify any surface hazards. They confirm the presence of sampleable regolith on the surface, observe the sampling event itself, and image the sample head in order to verify its readiness to be stowed. They document Bennu's history as an example of early solar system material, as a microgravity body with a planetesimal size-scale, and as a carbonaceous object. OCAMS is fitted with three cameras. The MapCam records point-source color images on approach to the asteroid in order to connect Bennu's ground-based point-source observational record to later higher-resolution surface spectral imaging. The SamCam documents the sample site before, during, and after it is disturbed by the sample mechanism. The PolyCam, using its focus mechanism, observes the sample site at sub-centimeter resolutions, revealing surface texture and morphology. While their imaging requirements divide naturally between the three cameras, they preserve a strong degree of functional overlap. OCAMS and the other spacecraft instruments allow the OSIRIS-REx mission to collect a sample from a microgravity body on the same visit during which it was first optically acquired from long range, a useful capability as humanity explores near-Earth, Main-Belt and Jupiter Trojan asteroids.},
author = {Rizk, B. and {Drouet D'Aubigny}, C. and others},
file = {:Users/dahliabaker/Documents/GradSchool/Research/Papers/1704.04531.pdf:pdf},
issn = {23318422},
journal = {arXiv},
keywords = {Asteroid,Bennu,Imaging,OCAMS,OSIRIS-REx,Sample Return},
pages = {1--128},
title = {{OCAMS: The OSIRIS-REx camera suite}},
year = {2017}
}
@article{Lowe2004,
abstract = {This paper presents a method for extracting distinctive invariant features from images that can be used to perform reliable matching between different views of an object or scene. The features are invariant to image scale and rotation, and are shown to provide robust matching across a a substantial range of affine distortion, change in 3D viewpoint, addition of noise, and change in illumination. The features are highly distinctive, in the sense that a single feature can be correctly matched with high probability against a large database of features from many images. This paper also describes an approach to using these features for object recognition. The recognition proceeds by matching individual features to a database of features from known objects using a fast nearest-neighbor algorithm, followed by a Hough transform to identify clusters belonging to a single object, and finally performing verification through least-squares solution for consistent pose parameters. This approach to recognition can robustly identify objects among clutter and occlusion while achieving near real-time performance.},
author = {Lowe, David G},
file = {:Users/dahliabaker/Library/Application Support/Mendeley Desktop/Downloaded/Lowe - 2004 - Distinctive Image Features from Scale-Invariant Keypoints.pdf:pdf},
keywords = {feature detection},
mendeley-groups = {Actual Background Papers for Journal},
mendeley-tags = {feature detection},
pages = {1--28},
title = {{Distinctive Image Features from Scale-Invariant Keypoints}},
year = {2004}
}

@article{Boyer2003,
abstract = {This paper addresses the problem of computing visual hulls from image contours. We propose a new hybrid approach which overcomes the precision-complexity trade-off inherent to voxel based approaches by taking advantage of surface based approaches. To this aim, we introduce a space discretization which does not rely on a regular grid, where most cells are ineffective, but rather on an irregular grid where sample points lie on the surface of the visual hull. Such a grid is composed of tetrahedral cells obtained by applying a Delaunay triangulation on the sample points. These cells are carved afterward according to image silhouette information. The proposed approach keeps the robustness of volumetric approaches while drastically improving their precision and reducing their time and space complexities. It thus allows modeling of objects with complex geometry, and it also makes real time feasible for precise models. Preliminary results with synthetic and real data are presented.},
author = {Boyer, Edmond and Franco, Jean S{\'{e}}bastien},
doi = {10.1109/cvpr.2003.1211421},
file = {:Users/dahliabaker/Documents/GradSchool/Research/Papers/boyer{\_}franco{\_}cvpr03.pdf:pdf},
issn = {10636919},
journal = {Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition},
keywords = {computer vision,visual hull},
mendeley-groups = {Lit Review for Paper No 1,Actual Background Papers for Journal},
mendeley-tags = {visual hull,computer vision},
title = {{A hybrid approach for computing visual hulls of complex objects}},
volume = {1},
year = {2003}
}

@article{Dietrich2017,
author = {Dietrich, Ann B},
file = {:Users/dahliabaker/Library/Application Support/Mendeley Desktop/Downloaded/Dietrich - 2017 - Supporting Autonomous Navigation with Flash Lidar Images in Proximity to Small Celestial Bodies by.pdf:pdf},
keywords = {lidar},
mendeley-groups = {Actual Background Papers for Journal},
mendeley-tags = {lidar},
title = {{Supporting Autonomous Navigation with Flash Lidar Images in Proximity to Small Celestial Bodies by}},
year = {2017}
}
@article{Takeishi2015,
abstract = {In an asteroid exploration and sample return mission, accurate estimation of the shape and motion of the target asteroid is essential for selecting a touchdown site and navigating a spacecraft during touchdown operation. In this work, we present an automatic estimation method for the shape and motion of an asteroid, which is planned to be tested in future exploration missions including Japanese Hayabusa-2 [1]. Our task is to estimate the shape and rotation axis of the asteroid, as well as positions of the spacecraft from optical images. The proposed method is based on the expectation conditional-maximization (ECM) framework that consists of an auxiliary particle filter and nonlinear optimization techniques. One of our technical contributions is the estimation of the direction of rotation axis of the asteroid from monocular camera images, which are taken by the moving spacecraft. We conducted two experiments with synthetic data and an asteroid mock-up to show the validity of the proposed method and to present the numerical accuracy.},
annote = {This is SLAM plus estimating the rotation axis, which SLAM doesn't usually do
This is Takeishi trying to develop his own solution on top of the SLAM framework that specifically works better with asteroids, given that occasionally you don't know their motion axes. 
Kinda coordinates well with the research done on tumbling satellite capture
Doesn't deal with the onboard processing, ports it to earth for batch calculations
Gives general algorithmic approach and math stuff},
author = {Takeishi, Naoya and Yairi, Takehisa and Tsuda, Yuichi and Terui, Fuyuto and Ogawa, Naoko and Mimasu, Yuya},
doi = {10.1109/ICRA.2015.7139589},
file = {:Users/dahliabaker/Library/Application Support/Mendeley Desktop/Downloaded/Takeishi et al. - 2015 - Simultaneous estimation of shape and motion of an asteroid for automatic navigation.pdf:pdf},
isbn = {VO -},
issn = {10504729},
journal = {Proceedings - IEEE International Conference on Robotics and Automation},
keywords = {Algorithm,Asteroid specific,SLAM},
mendeley-groups = {SLAM Review,Actual Background Papers for Journal},
mendeley-tags = {Algorithm,Asteroid specific,SLAM},
number = {June},
pages = {2861--2866},
title = {{Simultaneous estimation of shape and motion of an asteroid for automatic navigation}},
volume = {2015-June},
year = {2015}
}
@inproceedings{ScheeresDanielJ.McMahonJ.W.2020,
author = {{Scheeres, Daniel J., McMahon, J.W.}},
booktitle = {51st Lunar and Planetary Science Conference},
doi = {10.1227/00006123-197907010-00036},
file = {:Users/dahliabaker/Documents/Mendeley Desktop/Scheeres, Daniel J., McMahon, J.W/51st Lunar and Planetary Science Conference/janus_conf.pdf:pdf},
issn = {0148-396X},
mendeley-groups = {SciTech},
title = {{Janus: A NASA SIMPLEx mission to explore two NEO Binary Asteroids.}},
year = {2020}
}
@article{E.E.PalmerJ.R.Weirich2019,
author = {{E.E. Palmer, J.R. Weirich}, O.S. Barnouin},
file = {:Users/dahliabaker/Documents/Mendeley Desktop/E.E. Palmer, J.R. Weirich/Unknown/2588.pdf:pdf},
number = {2132},
pages = {4--5},
title = {{Stereophotoclinometry Models in Support of the Osiris-Rex Mission}},
volume = {2019},
year = {2019}
}
@book{Hartley2000,
author = {Hartley, Richard and Zisserman, Andrew},
edition = {2nd Editio},
file = {:Users/dahliabaker/Documents/Mendeley Desktop/Hartley, Zisserman/Unknown/Richard_Hartley_Andrew_Zisserman-Multiple_View_Geometry_in_Computer_Vision-EN.pdf:pdf},
isbn = {9780521540513},
publisher = {Cambridge University Press},
title = {{Multiple View Geometry in Computer Vision}},
year = {2000}
}