{"id":"https://openalex.org/W4367183707","doi":"https://doi.org/10.3390/rs15092286","title":"Lidar Pose Tracking of a Tumbling Spacecraft Using the Smoothed Normal Distribution Transform","display_name":"Lidar Pose Tracking of a Tumbling Spacecraft Using the Smoothed Normal Distribution Transform","publication_year":2023,"publication_date":"2023-04-26","ids":{"openalex":"https://openalex.org/W4367183707","doi":"https://doi.org/10.3390/rs15092286"},"language":"en","primary_location":{"id":"doi:10.3390/rs15092286","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15092286","pdf_url":"https://www.mdpi.com/2072-4292/15/9/2286/pdf?version=1682558181","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2072-4292/15/9/2286/pdf?version=1682558181","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5053127965","display_name":"L\u00e9o Renaut","orcid":"https://orcid.org/0000-0002-0726-299X"},"institutions":[{"id":"https://openalex.org/I25974101","display_name":"University of W\u00fcrzburg","ror":"https://ror.org/00fbnyb24","country_code":"DE","type":"education","lineage":["https://openalex.org/I25974101"]},{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"L\u00e9o Renaut","raw_affiliation_strings":["German Aerospace Center (DLR), 82234 Wessling, Germany","Informatics XVII-Robotics, Julius-Maximilians-Universit\u00e4t W\u00fcrzburg, 97074 W\u00fcrzburg, Germany","German Aerospace Center (DLR), 82234 Wessling, Germany;"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), 82234 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Informatics XVII-Robotics, Julius-Maximilians-Universit\u00e4t W\u00fcrzburg, 97074 W\u00fcrzburg, Germany","institution_ids":["https://openalex.org/I25974101"]},{"raw_affiliation_string":"German Aerospace Center (DLR), 82234 Wessling, Germany;","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024993334","display_name":"Heike Frei","orcid":"https://orcid.org/0000-0003-0836-9171"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Heike Frei","raw_affiliation_strings":["German Aerospace Center (DLR), 82234 Wessling, Germany","German Aerospace Center (DLR), 82234 Wessling, Germany;"],"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), 82234 Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"German Aerospace Center (DLR), 82234 Wessling, Germany;","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113992144","display_name":"Andreas N\u00fcchter","orcid":null},"institutions":[{"id":"https://openalex.org/I25974101","display_name":"University of W\u00fcrzburg","ror":"https://ror.org/00fbnyb24","country_code":"DE","type":"education","lineage":["https://openalex.org/I25974101"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andreas N\u00fcchter","raw_affiliation_strings":["Informatics XVII-Robotics, Julius-Maximilians-Universit\u00e4t W\u00fcrzburg, 97074 W\u00fcrzburg, Germany"],"affiliations":[{"raw_affiliation_string":"Informatics XVII-Robotics, Julius-Maximilians-Universit\u00e4t W\u00fcrzburg, 97074 W\u00fcrzburg, Germany","institution_ids":["https://openalex.org/I25974101"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5053127965"],"corresponding_institution_ids":["https://openalex.org/I25974101","https://openalex.org/I2898391981"],"apc_list":{"value":2500,"currency":"CHF","value_usd":2707},"apc_paid":{"value":2157,"currency":"EUR","value_usd":2326},"fwci":7.5393,"has_fulltext":true,"cited_by_count":10,"citation_normalized_percentile":{"value":0.96393312,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"15","issue":"9","first_page":"2286","last_page":"2286"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11701","display_name":"Space Satellite Systems and Control","score":0.9994999766349792,"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/T11701","display_name":"Space Satellite Systems and Control","score":0.9994999766349792,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9991999864578247,"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/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9962999820709229,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.8262758255004883},{"id":"https://openalex.org/keywords/spacecraft","display_name":"Spacecraft","score":0.7743731737136841},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6341497898101807},{"id":"https://openalex.org/keywords/lidar","display_name":"Lidar","score":0.5949454307556152},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4904186427593231},{"id":"https://openalex.org/keywords/iterative-closest-point","display_name":"Iterative closest point","score":0.4520464241504669},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.42239320278167725},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4176182150840759},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.28151923418045044},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.20950835943222046},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13733643293380737},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.12859946489334106}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.8262758255004883},{"id":"https://openalex.org/C29829512","wikidata":"https://www.wikidata.org/wiki/Q40218","display_name":"Spacecraft","level":2,"score":0.7743731737136841},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6341497898101807},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.5949454307556152},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4904186427593231},{"id":"https://openalex.org/C195958017","wikidata":"https://www.wikidata.org/wiki/Q1675268","display_name":"Iterative closest point","level":3,"score":0.4520464241504669},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.42239320278167725},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4176182150840759},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.28151923418045044},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.20950835943222046},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13733643293380737},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.12859946489334106},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/rs15092286","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15092286","pdf_url":"https://www.mdpi.com/2072-4292/15/9/2286/pdf?version=1682558181","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},{"id":"pmh:oai:elib.dlr.de:196288","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15092286>.","pdf_url":"https://elib.dlr.de/196288/1/remotesensing-15-02286-v2.pdf","source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"},{"id":"pmh:oai:opus.bibliothek.uni-wuerzburg.de:31373","is_oa":true,"landing_page_url":"https://nbn-resolving.org/urn:nbn:de:bvb:20-opus-313738","pdf_url":"https://opus.bibliothek.uni-wuerzburg.de/files/31373/remotesensing-15-02286-v2.pdf","source":{"id":"https://openalex.org/S4306401635","display_name":"Online Publication Service of W\u00fcrzburg University (W\u00fcrzburg University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I25974101","host_organization_name":"University of W\u00fcrzburg","host_organization_lineage":["https://openalex.org/I25974101"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},{"id":"pmh:oai:doaj.org/article:7fa7068d3e854ee5bffab314ac777316","is_oa":true,"landing_page_url":"https://doaj.org/article/7fa7068d3e854ee5bffab314ac777316","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing, Vol 15, Iss 9, p 2286 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2072-4292/15/9/2286/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/rs15092286","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Remote Sensing; Volume 15; Issue 9; Pages: 2286","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/rs15092286","is_oa":true,"landing_page_url":"https://doi.org/10.3390/rs15092286","pdf_url":"https://www.mdpi.com/2072-4292/15/9/2286/pdf?version=1682558181","source":{"id":"https://openalex.org/S43295729","display_name":"Remote Sensing","issn_l":"2072-4292","issn":["2072-4292"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Remote Sensing","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.75}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4367183707.pdf"},"referenced_works_count":47,"referenced_works":["https://openalex.org/W1567242735","https://openalex.org/W1650975994","https://openalex.org/W1943808550","https://openalex.org/W1990385077","https://openalex.org/W2063549868","https://openalex.org/W2064182365","https://openalex.org/W2065606305","https://openalex.org/W2096143401","https://openalex.org/W2131439959","https://openalex.org/W2140711847","https://openalex.org/W2145178709","https://openalex.org/W2161958083","https://openalex.org/W2164610454","https://openalex.org/W2295130602","https://openalex.org/W2296228853","https://openalex.org/W2419676917","https://openalex.org/W2527142681","https://openalex.org/W2568139125","https://openalex.org/W2589199823","https://openalex.org/W2605016621","https://openalex.org/W2613867460","https://openalex.org/W2728760287","https://openalex.org/W2739206226","https://openalex.org/W2776443693","https://openalex.org/W2794719813","https://openalex.org/W2805521962","https://openalex.org/W2905404571","https://openalex.org/W2938382370","https://openalex.org/W2952916611","https://openalex.org/W2963600667","https://openalex.org/W2980170869","https://openalex.org/W2995678423","https://openalex.org/W3015072278","https://openalex.org/W3108492605","https://openalex.org/W3132462937","https://openalex.org/W3159362465","https://openalex.org/W3179182882","https://openalex.org/W3203066970","https://openalex.org/W4231236310","https://openalex.org/W4282023695","https://openalex.org/W4305057149","https://openalex.org/W4311104058","https://openalex.org/W4323241024","https://openalex.org/W6662860747","https://openalex.org/W6697304529","https://openalex.org/W6752513439","https://openalex.org/W6817117944"],"related_works":["https://openalex.org/W4293094720","https://openalex.org/W2739701376","https://openalex.org/W2813834476","https://openalex.org/W3016861202","https://openalex.org/W4320058782","https://openalex.org/W2196111060","https://openalex.org/W2807666361","https://openalex.org/W4213431252","https://openalex.org/W2120071540","https://openalex.org/W4306760020"],"abstract_inverted_index":{"Lidar":[0],"sensors":[1,74],"enable":[2],"precise":[3],"pose":[4,101],"estimation":[5],"of":[6,32,41,96,109,130,148,162,177],"an":[7,55,169],"uncooperative":[8,170],"spacecraft":[9,85,171,182],"in":[10,98,136],"close":[11],"range.":[12],"In":[13,71],"this":[14],"context,":[15],"the":[16,30,33,37,42,64,99,110,114,128,138,142,149,154,160,163,181],"iterative":[17],"closest":[18],"point":[19,34,139],"(ICP)":[20],"is":[21,54,144],"usually":[22],"employed":[23],"as":[24],"a":[25,46,84,88,94,106,145,185],"tracking":[26,83],"method.":[27],"However,":[28],"when":[29,82,180],"size":[31],"clouds":[35],"increases,":[36],"required":[38],"computation":[39],"time":[40],"ICP":[43],"can":[44,59],"become":[45],"limiting":[47],"factor.":[48],"The":[49,133],"normal":[50],"distribution":[51],"transform":[52],"(NDT)":[53],"alternative":[56],"algorithm":[57],"which":[58],"be":[60],"more":[61],"efficient":[62],"than":[63],"ICP,":[65],"but":[66],"suffers":[67],"from":[68],"robustness":[69,116],"issues.":[70],"addition,":[72],"lidar":[73],"are":[75,124],"also":[76],"subject":[77],"to":[78,93,112,126,166],"motion":[79,131],"blur":[80],"effects":[81,129],"tumbling":[86],"with":[87,184],"high":[89],"angular":[90,187],"velocity,":[91],"leading":[92],"loss":[95],"precision":[97],"relative":[100],"estimation.":[102],"This":[103],"work":[104],"introduces":[105],"smoothed":[107],"formulation":[108,147],"NDT":[111],"improve":[113],"algorithm\u2019s":[115],"while":[117,141],"maintaining":[118],"its":[119],"efficiency.":[120],"Additionally,":[121],"two":[122],"strategies":[123],"investigated":[125],"mitigate":[127],"blur.":[132],"first":[134],"consists":[135],"un-distorting":[137],"cloud,":[140],"second":[143],"continuous-time":[146],"NDT.":[150],"Hardware-in-the-loop":[151],"tests":[152],"at":[153],"European":[155],"Proximity":[156],"Operations":[157],"Simulator":[158],"demonstrate":[159],"capability":[161],"proposed":[164],"methods":[165],"precisely":[167],"track":[168],"under":[172],"realistic":[173],"conditions":[174],"within":[175],"tens":[176],"milliseconds,":[178],"even":[179],"tumbles":[183],"significant":[186],"rate.":[188]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}