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Proceedings Paper

Hazard avoidance via descent images for safe landing
Author(s): Ruicheng Yan; Zhiguo Cao; Lei Zhu; Zhiwen Fang
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Paper Abstract

In planetary or lunar landing missions, hazard avoidance is critical for landing safety. Therefore, it is very important to correctly detect hazards and effectively find a safe landing area during the last stage of descent.
In this paper, we propose a passive sensing based HDA (hazard detection and avoidance) approach via descent images to lower the landing risk. In hazard detection stage, a statistical probability model on the basis of the hazard similarity is adopted to evaluate the image and detect hazardous areas, so that a binary hazard image can be generated. Afterwards, a safety coefficient, which jointly utilized the proportion of hazards in the local region and the inside hazard distribution, is proposed to find potential regions with less hazards in the binary hazard image. By using the safety coefficient in a coarse-to-fine procedure and combining it with the local ISD (intensity standard deviation) measure, the safe landing area is determined. The algorithm is evaluated and verified with many simulated descent downward looking images rendered from lunar orbital satellite images.

Paper Details

Date Published: 26 October 2013
PDF: 6 pages
Proc. SPIE 8918, MIPPR 2013: Automatic Target Recognition and Navigation, 89180L (26 October 2013); doi: 10.1117/12.2031151
Show Author Affiliations
Ruicheng Yan, Huazhong Univ. of Science and Technology (China)
Zhiguo Cao, Huazhong Univ. of Science and Technology (China)
Lei Zhu, Huazhong Univ. of Science and Technology (China)
Zhiwen Fang, Huazhong Univ. of Science and Technology (China)


Published in SPIE Proceedings Vol. 8918:
MIPPR 2013: Automatic Target Recognition and Navigation
Tianxu Zhang; Nong Sang, Editor(s)

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