Fast matching of feature point and relative motion estimation for asteroid landing phase

Due to the extremely high requirements of real-time calculation ability and positioning accuracy, a rapid and robust image feature matching algorithm based on searching vector and small searching window is presented in this paper. Firstly, the image is obtained during landing, and then, combines the distance data acquired by laser altimeter and estimated information from the matching process of multiple images, the motion of the lander relative to asteroid can be precisely estimated. Finally, the validity and speediness of the proposed algorithm is confirmed by numerical simulations according to asteroids´ images obtained in real deep space missions.