This paper describes a set of obstacles detection algorithms developed in the frame of the landing phase of autonomous interplanetary missions. The detection is achieved from a CCD (single) image of the terrain via two types of methods: textural methods, detecting objects as singularity in the scale-space, and, shape recovery from local spatial scale methods (still under study). Two textural approaches have been implemented on an on-board DSP based representative device. The experimental results are tending to show these methods to remain robust with respect to changes of texture, structure, and, lighting condition of the scene. On the developed device, the computation time is less than 3 seconds for an image of size 768x576 pixels.


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    Title :

    Hazard avoidance based on optical sensing for lander missions


    Additional title:

    Vermeidung von zufälligen Hindernissen bei interplanetarischen Landeverfahren mit Hilfe optischer Erfassungssysteme


    Contributors:
    Zekri, E. (author) / Guettache, F. (author)


    Publication date :

    1997


    Size :

    6 Seiten, 7 Bilder, 16 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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