An innovative three-dimensional hazard detection algorithm is proposed for a planetary safe landing mission. Typically, plane fitting is carried out to approximate the surface of the planetary terrain. Current state-of-the-art plane estimation methods with a low breakdown point do not meet the requirements of future pinpoint landing missions. In this paper, a novel robust scale estimator called Preprocessing and Double Iterative Median Scale Estimator (PDIMSE) is proposed, which can achieve a breakdown point of more than 50%. It can be applied to future Mars landing missions.


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    Titel :

    Robust plane fitting algorithm for landing hazard detection


    Beteiligte:
    Xueming Xiao (Autor:in) / Hutao Cui (Autor:in) / Yang Tian (Autor:in)


    Erscheinungsdatum :

    01.10.2015


    Format / Umfang :

    3015024 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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