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Structured Light-Based Hazard Detection For Planetary Surface NavigationThis paper describes a structured light-based sensor for hazard avoidance in planetary environments. The system presented here can also be used in terrestrial applications constrained by reduced onboard power and computational complexity and low illumination conditions. The sensor is on a calibrated camera and laser dot projector system. The onboard hazard avoidance system determines the position of the projected dots in the image and through a triangulation process detects potential hazards. The paper presents the design parameters for this sensor and describes the image based solution for hazard avoidance. The system presented here was tested extensively in day and night conditions in Lunar analogue environments. The current system achieves over 97 detection rate with 1.7 false alarms over 2000 images.
Document ID
20170009200
Acquisition Source
Ames Research Center
Document Type
Conference Paper
Authors
Nefian, Ara (SGT, Inc. Moffett Field, CA, United States)
Wong, Uland Y. (SGT, Inc. Moffett Field, CA, United States)
Dille, Michael (SGT, Inc. Moffett Field, CA, United States)
Bouyssounouse, Xavier (NASA Ames Research Center Moffett Field, CA, United States)
Edwards, Laurence (NASA Ames Research Center Moffett Field, CA, United States)
To, Vinh (SGT, Inc. Moffett Field, CA, United States)
Deans, Matthew (NASA Ames Research Center Moffett Field, CA, United States)
Fong, Terry (NASA Ames Research Center Moffett Field, CA, United States)
Date Acquired
October 2, 2017
Publication Date
September 24, 2017
Subject Category
Lunar And Planetary Science And Exploration
Report/Patent Number
ARC-E-DAA-TN46999
Meeting Information
Meeting: IROS 2017- International Conference on Intelligent Robots and Systems
Location: Vancouver, BC
Country: Canada
Start Date: September 24, 2017
End Date: September 28, 2017
Sponsors: Institute of Electrical and Electronics Engineers
Funding Number(s)
CONTRACT_GRANT: NNA14AA60C
Distribution Limits
Public
Copyright
Public Use Permitted.

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