Structured light-based hazard detection for planetary surface navigation
Abstract
This paper describes a structured light-based sensor for hazard avoidance in planetary environments. The system presented here can also be used in terrestrial applications constrained by reduced onboard power and computational complexity and low illumination conditions. The sensor consists on a calibrated camera and laser dot projector system. The onboard hazard avoidance system determines the position of the projected dots in the image and through a triangulation process detects potential hazards. The paper presents the design parameters for this sensor and describes the image based solution for hazard avoidance. The system presented here was tested extensively in day and night conditions in Lunar analogue environments. The current system achieves over 97% detection rate with 1.7% false alarms over 2000 images.
BibTeX
@conference{Nefian-2017-122608,author = {Ara Nefian and Uland Y. Wong and Michael Dille and Xavier Bouyssounouse and Laurence Edwards and Vinh To and Matthew Deans and Terry Fong},
title = {Structured light-based hazard detection for planetary surface navigation},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2017},
month = {September},
pages = {2665 - 2671},
}