{"id":"https://openalex.org/W2604139401","doi":"https://doi.org/10.1109/aero.2017.7943684","title":"Lessons learned from OSIRIS-REx autonomous navigation using natural feature tracking","display_name":"Lessons learned from OSIRIS-REx autonomous navigation using natural feature tracking","publication_year":2017,"publication_date":"2017-03-01","ids":{"openalex":"https://openalex.org/W2604139401","doi":"https://doi.org/10.1109/aero.2017.7943684","mag":"2604139401"},"language":"en","primary_location":{"id":"doi:10.1109/aero.2017.7943684","doi":"https://doi.org/10.1109/aero.2017.7943684","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aero.2017.7943684","pdf_url":null,"source":{"id":"https://openalex.org/S4210171417","display_name":"IEEE Aerospace Conference (AERO)","issn_l":"1095-323X","issn":["1095-323X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE Aerospace Conference","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"David A. Lorenz","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210112445","display_name":"Stinger Ghaffarian Technologies (United States)","ror":"https://ror.org/02133fc38","country_code":"US","type":"company","lineage":["https://openalex.org/I4210112445"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David A. Lorenz","raw_affiliation_strings":["SGT Incorporated, Greenbelt, MD"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SGT Incorporated, Greenbelt, MD","institution_ids":["https://openalex.org/I4210112445"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060439262","display_name":"Ryan Olds","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I1287521167","display_name":"Lockheed Martin (United States)","ror":"https://ror.org/026er9r08","country_code":"US","type":"company","lineage":["https://openalex.org/I1287521167"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryan Olds","raw_affiliation_strings":["Lockheed Martin Space Systems Company, Denver, CO"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lockheed Martin Space Systems Company, Denver, CO","institution_ids":["https://openalex.org/I1287521167"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Alexander May","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I1287521167","display_name":"Lockheed Martin (United States)","ror":"https://ror.org/026er9r08","country_code":"US","type":"company","lineage":["https://openalex.org/I1287521167"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexander May","raw_affiliation_strings":["Lockheed Martin Space Systems Company, Denver, CO"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lockheed Martin Space Systems Company, Denver, CO","institution_ids":["https://openalex.org/I1287521167"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111887026","display_name":"Courtney Mario","orcid":"https://orcid.org/0009-0002-8658-7481","observed_orcids":["https://orcid.org/0009-0002-8658-7481"]},"institutions":[{"id":"https://openalex.org/I1343143571","display_name":"Draper Laboratory","ror":"https://ror.org/04378d909","country_code":"US","type":"funder","lineage":["https://openalex.org/I1343143571"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Courtney Mario","raw_affiliation_strings":["Draper, Cambridge, MA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Draper, Cambridge, MA","institution_ids":["https://openalex.org/I1343143571"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058445967","display_name":"Mark E. Perry","orcid":"https://orcid.org/0000-0003-1600-6856","observed_orcids":["https://orcid.org/0000-0003-1600-6856"]},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]},{"id":"https://openalex.org/I2802946424","display_name":"Johns Hopkins University Applied Physics Laboratory","ror":"https://ror.org/029pp9z10","country_code":"US","type":"facility","lineage":["https://openalex.org/I145311948","https://openalex.org/I2802946424"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark E. Perry","raw_affiliation_strings":["The Johns Hopkins University, Applied Physics Laboratory, Laurel, MD"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Johns Hopkins University, Applied Physics Laboratory, Laurel, MD","institution_ids":["https://openalex.org/I145311948","https://openalex.org/I2802946424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078291156","display_name":"Eric Edward Palmer","orcid":"https://orcid.org/0000-0001-6755-8736","observed_orcids":["https://orcid.org/0000-0001-6755-8736"]},"institutions":[{"id":"https://openalex.org/I1302918504","display_name":"Planetary Science Institute","ror":"https://ror.org/05vvg9554","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1302918504"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eric E. Palmer","raw_affiliation_strings":["Planetary Science Institute, Tucson, AZ"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Planetary Science Institute, Tucson, AZ","institution_ids":["https://openalex.org/I1302918504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025905473","display_name":"M. G. Daly","orcid":"https://orcid.org/0000-0002-3733-2530","observed_orcids":["https://orcid.org/0000-0002-3733-2530"]},"institutions":[{"id":"https://openalex.org/I192455969","display_name":"York University","ror":"https://ror.org/05fq50484","country_code":"CA","type":"education","lineage":["https://openalex.org/I192455969"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Michael Daly","raw_affiliation_strings":["York University, Toronto, Ontario, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"York University, Toronto, Ontario, Canada","institution_ids":["https://openalex.org/I192455969"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.6177,"has_fulltext":false,"cited_by_count":74,"citation_normalized_percentile":{"value":0.98688145,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"12"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11082","display_name":"Spacecraft Dynamics and Control","score":0.9682999849319458,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11082","display_name":"Spacecraft Dynamics and Control","score":0.9682999849319458,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12449","display_name":"Spacecraft Design and Technology","score":0.0071000000461936,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13855","display_name":"Aerospace Engineering and Control Systems","score":0.004999999888241291,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/osiris-rex","display_name":"OSIRIS-REx","score":0.996999979019165},{"id":"https://openalex.org/keywords/bennu","display_name":"Bennu","score":0.7839999794960022},{"id":"https://openalex.org/keywords/natural-feature-tracking","display_name":"natural feature tracking","score":0.8700000047683716},{"id":"https://openalex.org/keywords/autonomous-navigation","display_name":"autonomous navigation","score":0.6370000243186951},{"id":"https://openalex.org/keywords/asteroid-sample-return","display_name":"asteroid sample return","score":0.7080000042915344},{"id":"https://openalex.org/keywords/terrain-model","display_name":"terrain models","score":0.8009999990463257},{"id":"https://openalex.org/keywords/shape-models","display_name":"shape models","score":0.5170000195503235},{"id":"https://openalex.org/keywords/albedo","display_name":"albedo","score":0.6740000247955322},{"id":"https://openalex.org/keywords/image-correlation","display_name":"image correlation","score":0.8050000071525574},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.8199999928474426},{"id":"https://openalex.org/keywords/flash-lidar","display_name":"flash lidar","score":0.6449999809265137},{"id":"https://openalex.org/keywords/lessons-learned","display_name":"lessons learned","score":0.7350000143051147}],"concepts":[{"id":"https://openalex.org/C58142911","wikidata":"https://www.wikidata.org/wiki/Q3863","display_name":"Asteroid","level":2,"score":0.6489290595054626},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6369749903678894},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5553577542304993},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.5332695245742798},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.49890804290771484},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.4545222818851471},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4305158257484436},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.4259064793586731},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3749091625213623},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.18305933475494385},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16033679246902466},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1538504958152771},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.14926815032958984},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/aero.2017.7943684","doi":"https://doi.org/10.1109/aero.2017.7943684","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aero.2017.7943684","pdf_url":null,"source":{"id":"https://openalex.org/S4210171417","display_name":"IEEE Aerospace Conference (AERO)","issn_l":"1095-323X","issn":["1095-323X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE Aerospace Conference","raw_type":"proceedings-article"},{"id":"pmh:oai:casi.ntrs.nasa.gov:20170002016","doi":null,"is_oa":false,"landing_page_url":"http://hdl.handle.net/2060/20170002016","pdf_url":null,"source":{"id":"https://openalex.org/S4377196257","display_name":"NASA STI Repository (National Aeronautics and Space Administration)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I4210124779","host_organization_name":"National Aeronautics and Space Administration","host_organization_lineage":["https://openalex.org/I4210124779"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"CASI","raw_type":"GSFC-E-DAA-TN38092"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320310145","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95"},{"id":"https://openalex.org/F4320319918","display_name":"York University","ror":"https://ror.org/05fq50484"},{"id":"https://openalex.org/F4320332377","display_name":"Goddard Space Flight Center","ror":"https://ror.org/0171mag52"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":5,"referenced_works":["https://openalex.org/W734491","https://openalex.org/W2134911415","https://openalex.org/W2145046941","https://openalex.org/W2231204689","https://openalex.org/W3021601268"],"related_works":["https://openalex.org/W4280624004","https://openalex.org/W4206261083","https://openalex.org/W4229446960","https://openalex.org/W4229455256","https://openalex.org/W4393343065","https://openalex.org/W3185800504","https://openalex.org/W3043304407","https://openalex.org/W4385361868","https://openalex.org/W4386773963","https://openalex.org/W4206007880"],"abstract_inverted_index":{"The":[0,47,178],"Origins,":[1],"Spectral":[2],"Interpretation,":[3],"Resource":[4],"Identification,":[5],"Security-Regolith":[6],"Explorer":[7],"(OSIRIS-REx)":[8],"spacecraft":[9,155,275],"launched":[10],"on":[11,17,147,222],"September":[12],"8,":[13],"2016":[14],"to":[15,26,33,44,60,64,87,95,101,115,129,260,270,278,326],"embark":[16],"an":[18,91,120],"asteroid":[19,133,179,211,280],"sample":[20,38,43],"return":[21,41],"mission.":[22,117],"It":[23],"is":[24,119,157,220],"expected":[25],"rendezvous":[27],"with":[28,78],"the":[29,34,42,65,74,79,85,102,105,116,148,154,165,169,174,199,210,216,242,249,274,279,297,303,306,313,319,322,328],"asteroid,":[30],"Bennu,":[31],"navigate":[32],"surface,":[35],"collect":[36],"a":[37,99,130,142,161,188,214,224,257],"(July'20),":[39],"and":[40,70,81,173,201,206,281,299,316],"Earth":[45],"(September'23).":[46],"original":[48],"mission":[49,200],"design":[50,69,107],"called":[51],"for":[52,267,287],"using":[53,164,241],"one":[54],"of":[55,73,90,132,153,198,218,226,296,305,321],"two":[56],"Flash":[57],"Lidar":[58],"units":[59],"provide":[61],"autonomous":[62],"navigation":[63,93,123],"surface.":[66,212],"Following":[67],"Preliminary":[68],"initial":[71],"development":[72,89,304,320],"Lidars,":[75],"reliability":[76],"issues":[77],"hardware":[80,315],"test":[82],"program":[83],"prompted":[84],"project":[86],"begin":[88],"alternative":[92],"technique":[94],"be":[96,231,271],"used":[97,182,272,325],"as":[98,236,238,273],"backup":[100],"Lidar.":[103],"At":[104],"critical":[106],"review,":[108],"Natural":[109],"Feature":[110],"Tracking":[111],"(NFT)":[112],"was":[113,264],"added":[114],"NFT":[118,184,219,307],"onboard":[121,329],"optical":[122],"system":[124,308],"that":[125,229],"compares":[126],"observed":[127,176],"images":[128,172],"set":[131,225],"terrain":[134,180,204,268,323],"models":[135,181,269,284,324],"which":[136,309],"are":[137,185,285],"rendered":[138,170,240,330],"in":[139,145,255],"real-time":[140],"from":[141,187,192,302],"catalog":[143],"stored":[144],"memory":[146],"flight":[149,314],"computer.":[150],"Onboard":[151],"knowledge":[152],"state":[156],"then":[158],"updated":[159],"by":[160,183],"Kalman":[162],"filter":[163],"measured":[166],"residuals":[167],"between":[168],"reference":[171],"actual":[175],"images.":[177,331],"built":[186],"shape":[189,205,243],"model":[190,244],"generated":[191],"observations":[193],"collected":[194],"during":[195,234],"earlier":[196],"phases":[197],"include":[202],"both":[203,232],"albedo":[207],"information":[208],"about":[209],"As":[213],"result,":[215],"success":[217],"dependent":[221],"selecting":[223],"topographic":[227],"features":[228],"can":[230],"identified":[233],"descent":[235],"well":[237],"reliably":[239],"data":[245],"available.":[246],"During":[247],"development,":[248],"OSIRIS-REx":[250],"team":[251],"faced":[252],"significant":[253],"challenges":[254,298],"developing":[256],"process":[258],"conducive":[259],"robust":[261],"operation.":[262],"This":[263,291],"especially":[265],"true":[266],"gets":[276],"close":[277],"higher":[282],"fidelity":[283],"required":[286],"reliable":[288],"image":[289],"correlation.":[290],"paper":[292],"will":[293],"present":[294],"some":[295],"lessons":[300],"learned":[301],"includes":[310],"not":[311],"just":[312],"software":[317],"but":[318],"generate":[327]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":11},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2}],"updated_date":"2026-10-26T11:51:55.731654","created_date":"2017-04-14T00:00:00"}
