An autonomous path planning of a rover utilizing multi-image shape from shading

Koki Fujita, Shinji Hokamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

For planetary exploration, path planning for a rover is one of the important missions. This paper deals with Shape from Shading (SfS) scheme for estimation of planet terrain. As a reliable reflectance model of a surface, the Hapke model is formed in the world of remote sensing. This paper proposes to utilize the Hapke model in the SfS algorithm for multiple camera images. Since the Hapke model has singularity when the gradient vector of a surface element is coincident with a certain direction, the model is modified not to show the singularity. As a result, the SfS algorithm is applicable to multiple camera images and valid regardless of the degree of albedo of the surface. Applying the proposed SfS algorithm for multiple images, an autonomous path planning based on Dynamic Programming is shown. The effectiveness of the proposed scheme is investigated in numerical simulations, and some discussion about the results is presented.

Original languageEnglish
Title of host publicationAIAA/AAS Astrodynamics Specialist Conference and Exhibit
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
ISBN (Print)9781563479458, 9781624101243
DOIs
Publication statusPublished - 2002
EventAIAA/AAS Astrodynamics Specialist Conference and Exhibit 2002 - Monterey, CA, United States
Duration: Aug 5 2002Aug 8 2002

Publication series

NameAIAA/AAS Astrodynamics Specialist Conference and Exhibit

Other

OtherAIAA/AAS Astrodynamics Specialist Conference and Exhibit 2002
CountryUnited States
CityMonterey, CA
Period8/5/028/8/02

All Science Journal Classification (ASJC) codes

  • Astronomy and Astrophysics

Fingerprint Dive into the research topics of 'An autonomous path planning of a rover utilizing multi-image shape from shading'. Together they form a unique fingerprint.

  • Cite this

    Fujita, K., & Hokamoto, S. (2002). An autonomous path planning of a rover utilizing multi-image shape from shading. In AIAA/AAS Astrodynamics Specialist Conference and Exhibit (AIAA/AAS Astrodynamics Specialist Conference and Exhibit). American Institute of Aeronautics and Astronautics Inc.. https://doi.org/10.2514/6.2002-4825