국내 최대 기계 및 로봇 연구정보

기술보고서

기술보고서 게시판 내용
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.