This paper presents a novel, tiered sensor fusion methodology for real-time terrain safety assessment. A combination of active and passive sensors, specifically, radar, lidar, and camera, operate in three tiers according to their inherent ranges of operation. Low-level terrain features (e.g. slope, roughness) and high-level terrain features (e.g. hills, craters) are integrated using principles of reasoning under uncertainty. Three methodologies are used to infer landing safety: fuzzy reasoning, probabilistic reasoning, and evidential reasoning. The safe landing predictions from the three fusion engines are consolidated in a subsequent decision fusion stage aimed at combining the strengths of each fusion methodology. Results from simulated spacecraft descents are presented and discussed.


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    Titel :

    A novel tiered sensor fusion approach for terrain characterization and safe landing assessment


    Beteiligte:
    Serrano, N. (Autor:in) / Bajracharya, M. (Autor:in) / Howard, A. (Autor:in) / Seraji, H. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2006-01-01


    Format / Umfang :

    1041153 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    A novel tiered sensor fusion approach for terrain characterization and safe landing assessment

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