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Passive imaging based multi-cue hazard detection spacecraft safe landing

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dc.contributor.author Huertas, Andres
dc.contributor.author Cheng, Yang
dc.contributor.author Madison, Richard
dc.date.accessioned 2006-06-06T21:04:35Z
dc.date.available 2006-06-06T21:04:35Z
dc.date.issued 2006-03-04
dc.identifier.citation IEEE Aerospace Conference, Big Sky, Montana, March 4-11, 2006. en
dc.identifier.clearanceno 05-3257
dc.identifier.uri http://hdl.handle.net/2014/39270
dc.description.abstract Accurate assessment of potentially damaging ground hazards during the spacecraft EDL (Entry, Descent and Landing) phase is crucial to insure a high probability of safe landing. A lander that encounters a large rock, falls off a cliff, or tips over on a steep slope can sustain mission ending damage. Guided entry is expected to shrink landing ellipses from 100-300 km to -10 km radius for the second generation landers as early as 2009. Regardless of size and location, however, landing ellipses will almost always contain hazards such as craters, discontinuities, steep slopes, and large rocks. It is estimated that an MSL (Mars Science Laboratory)-sized lander should detect and avoid 16- 150m diameter craters, vertical drops similar to the edges of 16m or 3.75m diameter crater, for high and low altitude HAD (Hazard Detection and Avoidance) respectively. It should also be able to detect slopes 20' or steeper, and rocks 0.75m or taller. In this paper'*2 we will present a passive imaging based, multi-cue hazard detection and avoidance (HDA) system suitable for Martian and other lander missions. This is the first passively imaged HDA system that seamlessly integrates multiple algorithm-crater detection, slope estimation, rock detection and texture analysis, and multicues- crater morphology, rock distribution, to detect these hazards in real time. en
dc.description.sponsorship NASA/JPL en
dc.format.extent 4647532 bytes
dc.format.mimetype application/pdf
dc.language.iso en_US en
dc.publisher Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2004 en
dc.subject hazard detection en
dc.subject craters en
dc.subject slope detection en
dc.subject rock detection en
dc.subject safe landing en
dc.title Passive imaging based multi-cue hazard detection spacecraft safe landing en
dc.type Preprint en


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