A hybrid range imaging system solution for in-flight space shuttle inspection

The investigation into the tragic loss of the space shuttle and crew in February 2003 resulted in a series of recommendations that would prevent future tragedies. One of these recommendations is to provide the crew with the capability to perform an inspection of the shuttle after reaching low Earth orbit by using a sensor suite mounted on an extension boom. The Canadarm grasps this boom and can position it in the necessary positions to permit a complete inspection of the shuttle tile and other critical surfaces to ensure a safe return to Earth. This paper proposes the introduction of a hybrid sensor suite to this boom that combines the strengths of time-of-flight laser and computational stereo camera range measurements to provide a robust long term solution for shuttle inspection applications.