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首页> 外文期刊>Aerospace and Electronic Systems, IEEE Transactions on >Feature Density Based Terrain Hazard Detection for Planetary Landing
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Feature Density Based Terrain Hazard Detection for Planetary Landing

机译：基于特征密度的行星着陆地形危害检测

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摘要

To ensure successful future planetary landing mission, the lander must be capable of detecting and assessing terrain hazard in the nominal landing zone. This paper presents an innovative method of planetary terrain hazard detection. The concept of feature density is introduced into the process of terrain hazard detection. Moreover, the statistical information of the terrain feature density is utilized to represent the terrain hazard level. Opposed to other methods of hazard detection, the research in this paper focuses on how to build a unified terrain representation by the terrain features rather than detecting the specific one or several types of hazard obstacles in traditional sense. Computer simulations demonstrates that the method presented in this paper is able to conduct multitype of complex terrain hazard detecting by the terrain feature detected in the visual image obtained from onboard camera during the landing phase.
机译：为了确保未来成功的行星着陆任务，着陆器必须能够检测和评估标称着陆区内的地形危害。本文提出了一种创新的行星地形灾害检测方法。特征密度的概念被引入到地形灾害检测过程中。此外，利用地形特征密度的统计信息来表示地形危险等级。与其他危险检测方法相反，本文的研究重点在于如何通过地形特征构建统一的地形表示，而不是检测传统意义上的特定一种或几种类型的危险障碍物。计算机仿真表明，本文提出的方法能够通过着陆阶段从车载摄像头获得的视觉图像中检测到的地形特征来进行多种类型的复杂地形危害检测。

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