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VISION-BASED RELATIVE NAVIGATION FILTER FOR ASTEROID RENDEZVOUS

This paper presents a novel navigation strategy for spacecraft small-body proximity operations. The method uses co-registered color and depth images to map the surface of a body while simultaneously localizing the spacecraft relative to the generated map. Motion parameters of the body are estimated in the filter and used in state propagation. The method is implemented in a laboratory experiment and can run at the 30 Hz frame rate of the sensor. The filter results are compared to ground-truth data for validation.