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A novel tiered sensor fusion approach for terrain characterization and safe landing assessmentThis 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.
Document ID
20060043946
Acquisition Source
Jet Propulsion Laboratory
Document Type
Conference Paper
External Source(s)
Authors
Serrano, Navid
Bajracharya, Max
Howard, Ayanna
Seraji, Homayoun
Date Acquired
August 23, 2013
Publication Date
March 4, 2005
Meeting Information
Meeting: IEEE Aerospace Conference
Location: Big Sky, MT
Country: United States
Start Date: March 4, 2005
End Date: March 11, 2005
Distribution Limits
Public
Copyright
Other
Keywords
fuzzy reasoning
evidential reasoning
probabilistic reasoning
safe landing
sensor fusion

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