IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0414297
(2012-03-07)
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등록번호 |
US-8744126
(2014-06-03)
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발명자
/ 주소 |
|
출원인 / 주소 |
- Ball Aerospace & Technologies Corp.
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대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
8 인용 특허 :
57 |
초록
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Embodiments of the disclosed invention relate to identifying safe landing sites on a surface. More particularly, three-dimensional image data is obtained from a surface. That image data is processed using morphological operations to create a smoothed surface. The smoothed surface data is then used t
Embodiments of the disclosed invention relate to identifying safe landing sites on a surface. More particularly, three-dimensional image data is obtained from a surface. That image data is processed using morphological operations to create a smoothed surface. The smoothed surface data is then used to calculate slopes, to identify areas of the surface that present a slope hazard. The smooth data obtained for identifying slope hazards can also be used in connection with identifying surface features, including bumps or holes, that create surface feature hazards. After identifying the slope and/or surface feature hazards, a hazard map indicating safe and not safe landing areas can be created.
대표청구항
▼
1. A method for detecting features of a surface, comprising: receiving three-dimensional data related to the surface;performing an image morphology operation on the received three-dimensional data to obtain base surface data;determining from the base surface data a slope of the surface relative to a
1. A method for detecting features of a surface, comprising: receiving three-dimensional data related to the surface;performing an image morphology operation on the received three-dimensional data to obtain base surface data;determining from the base surface data a slope of the surface relative to a reference line; anddetermining from the base surface data a location of at least a first surface feature, wherein determining a location of at least a first surface feature includes: subtracting the three-dimensional data from the base surface data to obtain surface feature data;identifying points in the surface feature data that exceed a bump threshold. 2. A method for detecting features of a surface, comprising: receiving three-dimensional data related to the surface;performing an image morphology operation on the received three-dimensional data to obtain base surface data, wherein the image morphology operation includes: smoothing the three-dimensional data using a structuring element, wherein the structuring element has a size corresponding to a footprint of a lander; anddetermining from the base surface data a slope of the surface relative to a reference line. 3. The method of claim 2, wherein the structuring element is a disk. 4. The method of claim 3, wherein the image morphology operation includes: a morphological closing; anda morphological opening. 5. A method for detecting features of a surface, comprising: receiving three-dimensional data related to the surface;performing an image morphology operation on the received three-dimensional data to obtain base surface data; andcalculating from the base surface data a slope of the surface relative to a reference line, wherein the calculation of a slope includes: calculating a difference in altitude between two points, wherein the distance between the two points is equal to the diameter of a footprint of a lander. 6. The method of claim 5, wherein the image morphology operation includes: a morphological closing; anda morphological opening. 7. A method for detecting features of a surface, comprising: receiving three-dimensional data related to the surface;performing an image morphology operation on the received three-dimensional data to obtain base surface data; andcalculating from the base surface data a slope of the surface relative to a reference line, wherein the calculation of the slope includes: calculating a number of points in the base surface data over which to take finite differences for slope determination;from the base surface data, taking a central finite difference along each direction;calculating angles from the finite differences in each direction. 8. The method of claim 7, wherein the number of points over which the finite differences for slope determination is taken is equal to the number of points in the base surface data included in a distance across the surface that is equal to the diameter of a lander footprint. 9. The method of claim 8, further comprising: determining from the base surface a location of at least a first feature on the surface;subtracting the three-dimensional data from the base surface data to obtain surface feature data;identifying points in the surface feature data that exceed a bump threshold;identifying at least a first good landing site, wherein each good landing site includes: an area equal to or greater than the lander footprint that includes surface feature data that does not exceed a bump threshold and that has a slope that does not exceed a slope threshold. 10. The method of claim 9, further comprising: eroding each good landing site by applying a first proportionality value, wherein the first proportionality value is less than one. 11. The method of claim 10, further comprising: dilating each good landing site by applying a second proportionality value, wherein the second proportionality value is less than one multiplied by a radius of the lander footprint. 12. The method of claim 9, further comprising: providing a steering control signal to the lander, wherein the lander is guided to the first good landing site. 13. A method for detecting features of a surface, comprising: receiving three-dimensional data related to the surface;performing an image morphology operation on the received three-dimensional data to obtain base surface data; anddetermining from the base surface data a slope of the surface relative to a reference line, wherein the reference line is a gravity vector of a body associated with the surface. 14. A system for detecting features of a surface, comprising: a hazard detection processor system, wherein an image morphology operation is performed on three-dimensional surface data to obtain base surface data, wherein a slope of the surface relative to a reference line is determined from the base surface data, and wherein a hazard map indicating safe landing areas on the surface is output by the hazard detection processor system. 15. The system of claim 14, further comprising: at least one of a flight computer and a display, wherein the hazard map is provided to the at least one of the flight computer and the display. 16. The system of claim 14, further comprising: a three-dimensional imaging system, wherein the three-dimensional surface data is provided to the hazard detection processor system by the three-dimensional imaging system.
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