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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    Title :

    Robust plane fitting algorithm for landing hazard detection


    Contributors:
    Xiao, Xueming (author) / Cui, Hutao (author) / Tian, Yang (author)


    Publication date :

    2015-10-01


    Size :

    3015024 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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