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.
Robust plane fitting algorithm for landing hazard detection
IEEE Transactions on Aerospace and Electronic Systems ; 51 , 4 ; 2864-2875
2015-10-01
3015024 byte
Article (Journal)
Electronic Resource
English
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