Passive Imaging Based Multicue Hazard Detection for Spacecraft Safe Landing

Huertas, A.; Cheng, Yang; Madison, Richard

doi:10.1109/aero.2006.1655794

Cited by 46 publications

(32 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…This technique infers the size and centroid of rocks by identifying their shadows in the image. 13 The method first gammacorrects the image in order to increase contrast. The image is then segmented into regions of shadow and light; individual shadow contours are then constructed from the edges of the shadowed regions, with some noise rejection before creating discrete hazard objects.…”

Section: A Image Processingmentioning

confidence: 99%

Influence of Trajectory on Accuracy of Hazard Estimation During Lunar Landing

Crane

Rock

2012

AIAA Guidance, Navigation, and Control Conference

View full text Add to dashboard Cite

The feasibility of improving the performance of an on-line hazard estimation system by modifying the descent trajectory during lunar landing is demonstrated. A previously developed technique for inferring the size of rocks based on the measured size of their shadows is the primary hazard information source which feeds an Extended Kalman Filter (EKF) for recursive estimation of discrete hazard objects through the course of the landing. A dense, probabilistic hazard map of the landing zone is created by using the output of the EKF. An overview is given of the algorithmic steps required to extract hazard information from images, estimate the hazard and spacecraft state in the EKF, and create the hazard probability map. Results from a comparison of two trajectories over simulated terrain is given to show that a change in trajectory can produce a reduction in hazard map uncertainty. As a consequence of lower map uncertainty, a greater fraction of the landing zone can be identified as clear of hazards and so potentially suitable for touchdown.

show abstract

Section: A Image Processingmentioning

confidence: 99%

Influence of Trajectory on Accuracy of Hazard Estimation During Lunar Landing

Crane

Rock

2012

AIAA Guidance, Navigation, and Control Conference

View full text Add to dashboard Cite

show abstract

“…To overcome the limitations of active sensing many approaches have been developed for the estimation of 3D surface geometry and landing site assessment from passive camera sensors [16,24,38,49]. Camera sensors are inexpensive, low power, lightweight devices that can operate from a large range of flight altitudes and can be safely used in populated areas, making them an attractive alternative to expensive, power intensive active Fig.…”

Section: Unprepared Landing Sitesmentioning

confidence: 99%

“…Whether a passive-only or combined sensing solution is used the ability to quickly assess candidate landing sites is a crucial step employed by many approaches in the literature [5, 13,22,24,37]. Monocular texture analysis techniques have played a predominant role in finding suitable candidate landing sites as they typically involve a fairly simple image processing and are easily amenable to real-time operation [9, 13,16,22,37].…”

Section: Unprepared Landing Sitesmentioning

confidence: 99%

“…They can operate from a range of flight altitudes and are safe for use in populated urban and rural environments. As a result, many camera-based approaches [37,5,24,13] have also been explored over the years. To achieve real-time performance, most of them rely on simple techniques such as thresholding of local intensity variations or edge density.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Real-time landing place assessment in man-made environments

Sun

Christoudias

Lepetit

et al. 2013

Machine Vision and Applications

View full text Add to dashboard Cite

We propose a novel approach to real-time landing site detection and assessment in unconstrained man-made environments using passive sensors. Because this task must be performed in a few seconds or less, existing methods are often limited to simple local intensity and edge variation cues. By contrast, we show how to efficiently take into account the potential sites' global shape, which is a critical cue in man-made scenes. Our method relies on a new segmentation algorithm and shape regularity measure to look for polygonal regions in video sequences. In this way we enforce both temporal consistency and geometric regularity, resulting in very reliable and consistent detections. We demonstrate our approach for the detection of landable sites such as rural fields, building rooftops and runways from color and infrared monocular sequences significantly outperforming the state-of-the-art.

show abstract

“…It happens frequently that the terrain conditions of these area are more complicated, this not only poses a great challenge to the spacecraft Guidance, Navigation, & Control Systems, but also requests more higher demand to the performance of landing obstacle detection and the efficiency of the landing site selection. Up to now, using multiple sensors data for hazard detection have been proposed (Brady et al, 2009;Neveu et al, 2015), including passive optical image data (Bajracharya, 2002;Cheng et al, 2001;Cohanim et al, 2013;Huertas et al, 2006;Mahmood and Saaj, 2015;Matthies et al, 2008;Woicke and Mooij, 2016;Yan et al, 2013), LiDAR data (Amzajerdian et al, 2013;Chakroborty et al, 2009;de Lafontaine et al, 2006;Johnson et al, 2002) and Radar data (Pollard et al, 2003), and so forth.…”

Section: Introductionmentioning

confidence: 99%

Simulation Experiment on Landing Site Selection Using a Simple Geometric Approach

Zhao

Tong

Xie

et al. 2017

Int. Arch. Photogramm. Remote Sens. Spatial Inf. Sci.

View full text Add to dashboard Cite

ABSTRACT:Safe landing is an important part of the planetary exploration mission. Even fine scale terrain hazards (such as rocks, small craters, steep slopes, which would not be accurately detected from orbital reconnaissance) could also pose a serious risk on planetary lander or rover and scientific instruments on-board it. In this paper, a simple geometric approach on planetary landing hazard detection and safe landing site selection is proposed. In order to achieve full implementation of this algorithm, two easy-to-compute metrics are presented for extracting the terrain slope and roughness information. Unlike conventional methods which must do the robust plane fitting and elevation interpolation for DEM generation, in this work, hazards is identified through the processing directly on LiDAR point cloud. For safe landing site selection, a Generalized Voronoi Diagram is constructed. Based on the idea of maximum empty circle, the safest landing site can be determined. In this algorithm, hazards are treated as general polygons, without special simplification (e.g. regarding hazards as discrete circles or ellipses). So using the aforementioned method to process hazards is more conforming to the real planetary exploration scenario. For validating the approach mentioned above, a simulated planetary terrain model was constructed using volcanic ash with rocks in indoor environment. A commercial laser scanner mounted on a rail was used to scan the terrain surface at different hanging positions. The results demonstrate that fairly hazard detection capability and reasonable site selection was obtained compared with conventional method, yet less computational time and less memory usage was consumed. Hence, it is a feasible candidate approach for future precision landing selection on planetary surface.

show abstract

Passive Imaging Based Multicue Hazard Detection for Spacecraft Safe Landing

Cited by 46 publications

References 13 publications

Influence of Trajectory on Accuracy of Hazard Estimation During Lunar Landing

Influence of Trajectory on Accuracy of Hazard Estimation During Lunar Landing

Real-time landing place assessment in man-made environments

Simulation Experiment on Landing Site Selection Using a Simple Geometric Approach

Contact Info

Product

Resources

About