A novel tiered sensor fusion approach for terrain characterization and safe landing assessment

Thumbnail Image
Files
IEEE_2006_AERO_001.pdf (1016.75 KB)
Author(s)
Serrano, Navid
Bajracharya, Max
Seraji, Homayoun
Advisor(s)
Editor(s)
Associated Organization(s)
Organizational Unit
Organizational Unit
Series
Collections
Research Publications
Supplementary to:
Permanent Link
http://hdl.handle.net/1853/38298
Abstract
This paper presents a novel, tiered sensor fusion methodology for real-time terrain safety assessment. A combination of active and passive sensors, specifically, radar, lidar, and camera, operate in three tiers according to their inherent ranges of operation. Low-level terrain features (e.g. slope, roughness) and high-level terrain features (e.g. hills, craters) are integrated using principles of reasoning under uncertainty. Three methodologies are used to infer landing safety: fuzzy reasoning, probabilistic reasoning, and evidential reasoning. The safe landing predictions from the three fusion engines are consolidated in a subsequent decision fusion stage aimed at combining the strengths of each fusion methodology. Results from simulated spacecraft descents are presented and discussed.
Sponsor
Date
2006-03
Extent
Resource Type
Text
Resource Subtype
Proceedings
Rights Statement
Rights URI