For an unmanned exploration on the moon or a planet, an autonomous lander is necessary. This paper describes a method to recognize obstacles on the lunar or planetary surface for landers. The proposed method smoothes an image and uses a second moment of the gray-level image data for estimating high obstacles and rough terrains. The definition of safety for the lander depends on the height of obstacles. This paper proposes this method and the relation between the height of obstacles and the second moment. The simulation results of the proposed method are shown. The effectiveness of the proposed method is also discussed.
発行年
2007-02-02
日本十進分類法
548
学位
master
研究科・専攻
工学系研究科電子工学専攻
学位授与年月日
2007-03
学位記番号
修第号
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画像を用いた月惑星表面への着陸航法
tamura.pdf
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