Stereo vision and shadow analysis for landing hazard detection

Matthies, L.; Huertas, A.; Cheng, Yang; Johnson, Andrew

doi:10.1109/robot.2008.4543625

Cited by 40 publications

(22 citation statements)

References 7 publications

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“…4) Use in addition the texture analyses algorithm to provide a protective layer after rock modeling, a simple texture analyses such as windowed image variance can efficiently find the edges of rocks and avoid the rocks underestimated, which can solve the problem 2) above. If the size of rocks is overestimated, it does not matter, the lander is still safe.…”

Section: Methodsmentioning

confidence: 99%

Rock detection based on shadows and texture for safe lunar landing

Chen

Zheng³

2011

SPIE Proceedings

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Rock is one kind of dangerous hazards for lunar landing, a small rock about 0.5-1.0 meter tall can damage the lander and make the whole mission failed 1 . In this paper, we provide an improved method for rock detection based on shadows and texture for safe lunar landing, which can detect and model the rocks in the lunar surface image precisely. Although traditional rock detection algorithms can get a good result in the experimental environment full of rocks, it does not work well in the real, uneven environment with all kinds of hazards. Our algorithm can adapt to various environment because of the precisely extracting shadows of rocks and texture analyses after rock modeling.

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Section: Methodsmentioning

confidence: 99%

Rock detection based on shadows and texture for safe lunar landing

Chen

Zheng³

2011

SPIE Proceedings

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“…Simpler methods based on homography estimation have been proposed for surface slope estimation that either assume the presence of a flat ground plane [3] or rely on the efficient proposal of candidate landing sites [5]. Stereo vision systems have also been investigated [33,50], however, generally require a large baseline making them less suitable for smaller platforms.…”

Section: Unprepared Landing Sitesmentioning

confidence: 99%

Real-time landing place assessment in man-made environments

Sun

Christoudias

Lepetit

et al. 2013

Machine Vision and Applications

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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.

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“…The success rate of the detection method is dependent on the number of pixels which comprise the shadow length. 12 Shadows which are comprised of only a few pixels can be rejected as noise; a shadow composed of many pixels is less ambiguous and so the true detection rate increases with shadow length. The false negative (F N) detection rate is modeled as a linear function of the number of pixels, called q.…”

Section: Probability Mapsmentioning

confidence: 99%

Influence of Trajectory on Accuracy of Hazard Estimation During Lunar Landing

Crane

Rock

2012

AIAA Guidance, Navigation, and Control Conference

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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.

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Stereo vision and shadow analysis for landing hazard detection

Cited by 40 publications

References 7 publications

Rock detection based on shadows and texture for safe lunar landing

Rock detection based on shadows and texture for safe lunar landing

Real-time landing place assessment in man-made environments

Influence of Trajectory on Accuracy of Hazard Estimation During Lunar Landing

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