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

Koki Fujita, Shinji Hokamoto

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

抄録

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.

本文言語英語
ホスト出版物のタイトルAIAA/AAS Astrodynamics Specialist Conference and Exhibit
出版社American Institute of Aeronautics and Astronautics Inc.
ISBN(印刷版)9781563479458, 9781624101243
DOI
出版ステータス出版済み - 2002
イベントAIAA/AAS Astrodynamics Specialist Conference and Exhibit 2002 - Monterey, CA, 米国
継続期間: 8 5 20028 8 2002

出版物シリーズ

名前AIAA/AAS Astrodynamics Specialist Conference and Exhibit

その他

その他AIAA/AAS Astrodynamics Specialist Conference and Exhibit 2002
国/地域米国
CityMonterey, CA
Period8/5/028/8/02

All Science Journal Classification (ASJC) codes

  • 天文学と天体物理学

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