论文标题
优化自治无人机的地形映射和着陆现场检测
Optimizing Terrain Mapping and Landing Site Detection for Autonomous UAVs
论文作者
论文摘要
下一代火星旋翼飞机需要在机上自动危害避免降落。为此，这项工作提出了一个执行连续多分辨率高度图重建和安全着陆点检测的系统。使用新型高斯公式的最佳混合物在金字塔结构中汇总结构，从而在金字塔结构中进行了汇总，该混合物提供了全面的不确定性模型。通过将金字塔填充与不同分辨率的测量更新相比，我们的多分辨率金字塔比过去的工作更有效，准确地构建。为了检测最安全的着陆位置，在优化的危险分段之后，我们在多距离变换峰上使用平均移位算法来解释地形粗糙度和不确定性。我们的贡献的好处是在实际和合成飞行数据上评估的。
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.
