The next generation of Mars rotorcrafts requires on-board autonomous hazard avoidance landing. To this end, this work proposes a system that performs continuous multi-resolution height map reconstruction and safe landing spot detection. Structure-from-Motion measurements are aggregated in a pyramid structure using a novel Optimal Mixture of Gaussians formulation that provides a comprehensive uncertainty model. Our multiresolution pyramid is built more efficiently and accurately than past work by decoupling pyramid filling from the measurement updates of different resolutions. To detect the safest landing location, after an optimized hazard segmentation, we use a mean shift algorithm on multiple distance transform peaks to account for terrain roughness and uncertainty. The benefits of our contributions are evaluated on real and synthetic flight data.
翻译:下一代火星旋翼飞行器需要自动在船上自动避免危险着陆。 为此, 这项工作提议了一个系统, 进行连续多分辨率高度图的重建和安全着陆点探测。 结构从运动测量在金字塔结构中汇总, 使用新型的“ 最佳高斯人混合配方”, 提供全面的不确定性模型。 我们的多分辨率金字塔比以往的工作更高效、更精确地建构, 将金字塔的填充与不同分辨率的测量更新脱钩。 为了探测最安全的着陆地点, 在优化的危害分区后, 我们使用一个对多距离转换峰值的平均转换算法, 以考虑到地形的粗糙性和不确定性。 我们的贡献的效益是通过真实和合成飞行数据来评估的。