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
1秒前
DD发布了新的文献求助10
1秒前
华仔应助zz采纳,获得10
1秒前
why发布了新的文献求助10
2秒前
小蘑菇应助小匹夫采纳,获得10
4秒前
Tirachen发布了新的文献求助10
4秒前
5秒前
Owen应助Star-XYX采纳,获得10
5秒前
宁少爷应助muttcy采纳,获得30
6秒前
6秒前
6秒前
7秒前
CodeCraft应助lllyq采纳,获得10
9秒前
QizhiHu发布了新的文献求助10
9秒前
Zdu完成签到,获得积分10
10秒前
8R60d8应助大海星辰采纳,获得50
10秒前
11秒前
我是老大应助潇潇雨歇采纳,获得10
12秒前
陈陈发布了新的文献求助20
12秒前
YYYYY完成签到,获得积分10
12秒前
13秒前
Tirachen完成签到,获得积分10
13秒前
hindbind发布了新的文献求助10
14秒前
海晨完成签到,获得积分10
15秒前
ZXR完成签到 ,获得积分10
15秒前
Zdu发布了新的文献求助10
15秒前
奶俊啵啵完成签到 ,获得积分10
17秒前
善学以致用应助小文殊采纳,获得10
18秒前
ltt发布了新的文献求助10
18秒前
Orange应助学生小王采纳,获得10
19秒前
tanxiao发布了新的文献求助10
20秒前
ating完成签到,获得积分10
20秒前
烽烽烽发布了新的文献求助30
24秒前
25秒前
28秒前
YC完成签到,获得积分10
29秒前
认真的迎南完成签到,获得积分10
30秒前
十九发布了新的文献求助10
30秒前
31秒前
玩命的孤丹完成签到 ,获得积分10
31秒前
高分求助中
Spray / Wall-interaction Modelling by Dimensionless Data Analysis 2000
Mathematics and Finite Element Discretizations of Incompressible Navier—Stokes Flows 500
A new species of Coccus (Homoptera: Coccoidea) from Malawi 500
2-Acetyl-1-pyrroline: an important aroma component of cooked rice 500
A real-time energy management strategy based on fuzzy control and ECMS for PHEVs 400
Handbook on People's China (1957) 400
2024 Medicinal Chemistry Reviews 400
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 3189540
求助须知:如何正确求助?哪些是违规求助? 2838865
关于积分的说明 8021970
捐赠科研通 2501733
什么是DOI,文献DOI怎么找? 1335976
科研通“疑难数据库(出版商)”最低求助积分说明 637750
邀请新用户注册赠送积分活动 605818