Robust Approximation of Image Illumination Direction in a Segmentation-Based Crater Detection Algorithm for Spacecraft Navigation

This paper describes an efficient and easily implemented algorithmic approach to extracting an approximation to an image's dominant projected illumination direction, based on intermediary results from a segmentation-based crater detection algorithm (CDA), at a computational cost that is negligible in comparison to that of the prior stages of the CDA. Most contemporary CDAs built for spacecraft navigation use this illumination direction as a means of improving performance or even require it to function at all. Deducing the illumination vector from the image alone reduces the reliance on external information such as the accurate knowledge of the spacecraft inertial state, accurate time base and solar system ephemerides. Therefore, a method such as the one described in this paper is a prerequisite for true "Lost in Space" operation of a purely segmentation-based crater detecting and matching method for spacecraft navigation. The proposed method is verified using ray-traced lunar elevation model data, asteroid image data, and in a laboratory setting with a camera in the loop