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Recognition of three dimensional obstacles by an edge detection scheme. [for mars roving vehicle using laser range finder
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Reed, M. A. |
| Copyright Year | 1974 |
| Description | The need for an obstacle detection system on the Mars roving vehicle was assumed, and a practical scheme was investigated and simulated. The principal sensing device on this vehicle was taken to be a laser range finder. Both existing and original algorithms, ending with thresholding operations, were used to obtain the outlines of obstacles from the raw data of this laser scan. A theoretical analysis was carried out to show how proper value of threshold may be chosen. Computer simulations considered various mid-range boulders, for which the scheme was quite successful. The extension to other types of obstacles, such as craters, was considered. The special problems of bottom edge detection and scanning procedure are discussed. |
| File Size | 2028968 |
| Page Count | 74 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19740023634 |
| Archival Resource Key | ark:/13960/t3gx93187 |
| Language | English |
| Publisher Date | 1974-05-01 |
| Access Restriction | Open |
| Subject Keyword | Algorithms Barriers Detectors Mars Surface Computerized Simulation Pulsed Lasers Laser Range Finders Roving Vehicles Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Technical Report |
