多分辨率高程测绘和安全着陆点探测及其在行星旋翼机上的应用
Multi-Resolution Elevation Mapping and Safe Landing Site Detection with Applications to Planetary Rotorcraft
摘要：
在本文中，我们提出了一种资源有效的方法，提供了一个自主无人机的机载感知方法，以检测安全，无危险的着陆点在复杂的三维地形飞行。我们从一系列单目图像中采集的三维测量数据通过运动结构方法聚合到一个本地的，以机器人为中心的，多分辨率的海拔地图上的溢出地形，融合深度测量根据其横向表面分辨率（像素足迹）的概率框架的基础上的概念动态细节层次。地图聚合仅需要深度图和相关联的姿态，其从机载视觉里程计算法获得。然后，一种有效的着陆点检测方法利用底层多分辨率地图的特征，基于重建的地形表面的坡度、粗糙度和质量来检测安全着陆点。的映射和着陆点检测模块的性能的评估进行了分析，独立和联合在模拟和真实世界的实验，以建立所提出的方法的有效性。
英文摘要：
In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired from a sequence of monocular images by a Structure-from-Motion approach into a local, robot-centric, multi-resolution elevation map of the overflown terrain, which fuses depth measurements according to their lateral surface resolution (pixel-footprint) in a probabilistic framework based on the concept of dynamic Level of Detail. Map aggregation only requires depth maps and the associated poses, which are obtained from an onboard Visual Odometry algorithm. An efficient landing site detection method then exploits the features of the underlying multi-resolution map to detect safe landing sites based on slope, roughness, and quality of the reconstructed terrain surface. The evaluation of the performance of the mapping and landing site detection modules are analyzed independently and jointly in simulated and real-world experiments in order to establish the efficacy of the proposed approach.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
