타이틀 |
Real-time recognition of flat areas for lunar landing using the shape-from-shading technique. |
저자 |
Hiromi GOMI, Shuichi SASA, Isao YAMAGUCHI, Tetsujiro NINOMIYA, Yoshiro HAMADA |
Keyword |
image processing, shape from shading, obstacle avoidance, soft landing |
URL |
http://send.nal.go.jp/send/jpn/dlpdf.php3/naltr0001447.pdf?id=NALTR0001447 |
보고서번호 |
NAL TR-1447 |
발행년도 |
2002.8 |
출처 |
NAL (National Aerospace Laboratory of Japan) |
ABSTRACT |
The shape-from-shading technique is surveyed for application to obstacle avoidance for lunar landing. Tsai and Shah's algorithm is accurate, but it is time-consuming and sensitive to its boundary condition. Pentland's algorithm is robust and fast; however, it produces artifacts in reconstruction. We propose a real-time scheme of extracting flat areas instead of obstacles with Pentland’s method. |