已入深夜,您辛苦了!由于当前在线用户较少,发布求助请尽量完整的填写文献信息,科研通机器人24小时在线,伴您度过漫漫科研夜!祝你早点完成任务,早点休息,好梦!

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
Singularity应助something采纳,获得10
4秒前
6秒前
isvolcano完成签到,获得积分10
6秒前
江峰完成签到,获得积分10
7秒前
7秒前
闪闪映易完成签到,获得积分10
7秒前
lulu发布了新的文献求助10
7秒前
wjr关注了科研通微信公众号
8秒前
完美世界应助XSDXXZ采纳,获得10
9秒前
隐形曼青应助eth采纳,获得10
10秒前
杨欣1994完成签到,获得积分20
11秒前
科研通AI2S应助BruceKKKK采纳,获得10
11秒前
11秒前
12秒前
花花发布了新的文献求助10
12秒前
13秒前
holi完成签到 ,获得积分10
14秒前
风声鹤立发布了新的文献求助10
16秒前
zzz发布了新的文献求助10
16秒前
17秒前
调研昵称发布了新的文献求助10
17秒前
汉堡包应助mmm采纳,获得10
17秒前
杨欣1994发布了新的文献求助10
17秒前
斯文败类应助瑞雪采纳,获得10
17秒前
modesty完成签到,获得积分20
17秒前
夏凛完成签到 ,获得积分10
18秒前
鹤见知完成签到,获得积分10
19秒前
20秒前
21秒前
lulu完成签到,获得积分10
21秒前
JamesPei应助yhx采纳,获得10
22秒前
23秒前
喜悦兔子完成签到 ,获得积分10
24秒前
科研通AI2S应助modesty采纳,获得10
24秒前
小周同学发布了新的文献求助10
24秒前
25秒前
25秒前
领导范儿应助蔚蓝天空采纳,获得10
25秒前
cx发布了新的文献求助10
26秒前
28秒前
高分求助中
Spray / Wall-interaction Modelling by Dimensionless Data Analysis 2000
Aspects of Babylonian celestial divination: the lunar eclipse tablets of Enūma Anu Enlil 500
Mathematics and Finite Element Discretizations of Incompressible Navier—Stokes Flows 500
India's foreign trade policy and its performance in the world economy 450
Structural Inorganic Chemistry 400
Dictionary of socialism 350
Mixed-anion Compounds 300
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 3196352
求助须知:如何正确求助?哪些是违规求助? 2845157
关于积分的说明 8053048
捐赠科研通 2509764
什么是DOI,文献DOI怎么找? 1341970
科研通“疑难数据库(出版商)”最低求助积分说明 639304
邀请新用户注册赠送积分活动 608563