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Proceedings Paper

3D imaging lidar for lunar robotic exploration
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Paper Abstract

Part of the requirements of the future Constellation program is to optimize lunar surface operations and reduce hazards to astronauts. Toward this end, many robotic platforms, rovers in specific, are being sought to carry out a multitude of missions involving potential EVA sites survey, surface reconnaissance, path planning and obstacle detection and classification. 3D imaging lidar technology provides an enabling capability that allows fast, accurate and detailed collection of three-dimensional information about the rover's environment. The lidar images the region of interest by scanning a laser beam and measuring the pulse time-of-flight and the bearing. The accumulated set of laser ranges and bearings constitutes the threedimensional image. As part of the ongoing NASA Ames research center activities in lunar robotics, the utility of 3D imaging lidar was evaluated by testing Optech's ILRIS-3D lidar on board the K-10 Red rover during the recent Human - Robotics Systems (HRS) field trails in Lake Moses, WA. This paper examines the results of the ILRIS-3D trials, presents the data obtained and discusses its application in lunar surface robotic surveying and scouting.

Paper Details

Date Published: 8 May 2009
PDF: 9 pages
Proc. SPIE 7331, Space Exploration Technologies II, 73310H (8 May 2009); doi: 10.1117/12.818273
Show Author Affiliations
Marwan W. Hussein, Optech, Inc. (Canada)
Jeffrey W. Tripp, Optech, Inc. (Canada)

Published in SPIE Proceedings Vol. 7331:
Space Exploration Technologies II
Wolfgang Fink, Editor(s)

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