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Titolo:
Crater detection for autonomous landing on asteroids
Autore:
Leroy, B; Medioni, G; Johnson, E; Matthies, L;
Indirizzi:
Univ So Calif, Inst Robot & Intelligent Syst, Los Angeles, CA 90089 USA Univ So Calif Los Angeles CA USA 90089 nt Syst, Los Angeles, CA 90089 USA CALTECH, Jet Prop Lab, Pasadena, CA 91125 USA CALTECH Pasadena CA USA 91125 LTECH, Jet Prop Lab, Pasadena, CA 91125 USA
Titolo Testata:
IMAGE AND VISION COMPUTING
fascicolo: 11, volume: 19, anno: 2001,
pagine: 787 - 792
SICI:
0262-8856(20010901)19:11<787:CDFALO>2.0.ZU;2-8
Fonte:
ISI
Lingua:
ENG
Soggetto:
3D DATA; SURFACE; INFERENCE; SPARSE; MODEL;
Keywords:
segmentation; feature extraction; perceptual grouping; autonomous spacecraft;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Engineering, Computing & Technology
Citazioni:
10
Recensione:
Indirizzi per estratti:
Indirizzo: Leroy, B Univ So Calif, Inst Robot & Intelligent Syst, Univ Pk Campus, LosAngeles,CA 90089 USA Univ So Calif Univ Pk Campus Los Angeles CA USA 90089A 90089 USA
Citazione:
B. Leroy et al., "Crater detection for autonomous landing on asteroids", IMAGE VIS C, 19(11), 2001, pp. 787-792

Abstract

We describe a visual positioning system for use by a spacecraft to choose a landing site, while orbiting an asteroid. The spacecraft pose is refined using landmarks, such as craters, observed by a visual sensor. The craters,which have an elliptical shape, are detected using a multiscale method based on voting, and tensors as a representation. We propose a new robust method to infer curvature estimation from noisy sparse data. This method is applied on edge images in order to obtain the oriented normals of the edge curves. Using this information, a dense saliency map corresponding to the position and shape of the craters is computed. The detected craters in the image are matched with the craters projected from a 3D model, and the best transformation between these two sets is obtained. This system has been tested with both real images of Phobos and a synthetic model. (C) 2001 Elsevier Science B.V. All rights reserved.

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Documento generato il 02/04/20 alle ore 18:37:49