A Method for Slope Detection of Planetary Surface in The Autonomous Obstacle Avoidance of Planetary Rover

障碍物 地形 避障 行星表面 点云 计算机科学 小行星 运动规划 地质学 计算机视觉 遥感 人工智能 移动机器人 天体生物学 机器人 地理 物理 火星探测计划 地图学 考古
作者
Bo Zheng,Jie Shen,Liang He,Tao Hu,Tao Cao,Muzi Li
标识
DOI:10.1109/iscsic54682.2021.00075
摘要

Planetary rover is the most efficient way to explore planets. The exploration area of planetary rover is a complex and unfamiliar environment. Planetary rover needs to perceive surrounding terrain and obstacle information clearly so as to ensure that the planetary rover can effectively and accurately perform autonomous obstacle avoidance and path planning in the unfamiliar environment. There is a problem that the slope is misjudged as an obstacle in autonomous obstacle avoidance, which leads to wrong planning decision. Meanwhile the passable area is treated as restricted area. Therefore, it is necessary to detect and estimate slope and identify the slope passing ability of planetary rover. A method for slope detection of planetary surface in the autonomous obstacle avoidance of planetary rover is presented in this paper. The down-sampling of original point cloud is processed by voxel mesh filtering. Meanwhile the real time 3D point cloud of large-scale planetary surface is clipped and segmented. The ground and obstacle are separated by local ground plane fitting estimation. Then slopes are calculated and classified, through which the slope above the threshold is reserved as obstacle and the slope below the threshold is set as passable area. The method presented in this paper is able to detect and classify the slope accurately in real time, which is shown in the simulation results.
最长约 10秒,即可获得该文献文件

科研通智能强力驱动
Strongly Powered by AbleSci AI
更新
大幅提高文件上传限制,最高150M (2024-4-1)

科研通是完全免费的文献互助平台,具备全网最快的应助速度,最高的求助完成率。 对每一个文献求助,科研通都将尽心尽力,给求助人一个满意的交代。
实时播报
刚刚
小二郎应助没烦恼采纳,获得10
刚刚
ZJR发布了新的文献求助10
1秒前
1秒前
喔啦发布了新的文献求助30
2秒前
思源应助科研通管家采纳,获得10
2秒前
2秒前
赘婿应助科研通管家采纳,获得10
2秒前
FashionBoy应助科研通管家采纳,获得10
2秒前
我是老大应助科研通管家采纳,获得10
2秒前
丘比特应助科研通管家采纳,获得10
2秒前
英俊的铭应助科研通管家采纳,获得10
2秒前
bkagyin应助科研通管家采纳,获得10
2秒前
充电宝应助科研通管家采纳,获得10
3秒前
科研通AI2S应助科研通管家采纳,获得10
3秒前
大个应助科研通管家采纳,获得10
3秒前
3秒前
完美世界应助科研通管家采纳,获得10
3秒前
CipherSage应助科研通管家采纳,获得10
3秒前
3秒前
3秒前
6秒前
今后应助lx采纳,获得10
7秒前
7秒前
舒克发布了新的文献求助10
8秒前
Vicktor2021完成签到,获得积分10
9秒前
张水水完成签到,获得积分10
11秒前
11秒前
英姑应助玻璃杯采纳,获得10
13秒前
13秒前
15秒前
思源应助简易采纳,获得10
16秒前
谨慎哈密瓜完成签到,获得积分10
16秒前
舒克完成签到,获得积分20
17秒前
NexusExplorer应助pander采纳,获得10
19秒前
柠檬酸应助小陆采纳,获得10
19秒前
斯文败类应助小陆采纳,获得10
19秒前
lx发布了新的文献求助10
19秒前
英俊不凡发布了新的文献求助10
20秒前
21秒前
高分求助中
Spray / Wall-interaction Modelling by Dimensionless Data Analysis 2000
Evolution 3rd edition 1500
保险藏宝图 1000
Lire en communiste 1000
Mantiden: Faszinierende Lauerjäger Faszinierende Lauerjäger 700
PraxisRatgeber: Mantiden: Faszinierende Lauerjäger 700
Mathematics and Finite Element Discretizations of Incompressible Navier—Stokes Flows 500
热门求助领域 (近24小时)
化学 医学 生物 材料科学 工程类 有机化学 生物化学 物理 内科学 纳米技术 计算机科学 化学工程 复合材料 基因 遗传学 催化作用 物理化学 免疫学 量子力学 细胞生物学
热门帖子
关注 科研通微信公众号,转发送积分 3186336
求助须知:如何正确求助?哪些是违规求助? 2836575
关于积分的说明 8010249
捐赠科研通 2498970
什么是DOI,文献DOI怎么找? 1334049
科研通“疑难数据库(出版商)”最低求助积分说明 636981
邀请新用户注册赠送积分活动 604909