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AIAA Guidance, Navigation, and Control Conference
This paper addresses the problem of navigating a robotic vehicle over non-planar surfaces for the purpose of performing visual surveys. The key issue lies in generating a spatiallysmooth camera orientation command that will point the camera toward the surface during surface traversal. The proposed solution filters high spatial frequency local surface measurements using a low spatial frequency spline-based model of the surface. The filtering occurs by updating the spline surface model with localdoi:10.2514/6.2009-6221 fatcat:rs5oefzxzjalrmlqxmu2k5fr7y