用于自主行星漫游车的增强道路边缘检测(E-RED)

2017 3rd International Conference on Applied and Theoretical Computing and Communication Technology (iCATccT) Pub Date : 2017-12-01 DOI:10.1109/ICATCCT.2017.8389099

Nandakishor Jahagirdar, Anand Hiremath, Sudeesh Balan, Mithileysh Sathiyanarayanan

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引用次数: 1

摘要

我们的工作是与印度空间研究组织(ISRO)卫星中心(ISAC)合作，为自主行星漫游者开发一种道路边缘检测算法，并提出一种在导航环境下保持安全的方法。在我们的算法中，探测器的感知与摄像头和红外(IR)传感器安全地结合在一起，以更好地导航。采用高斯混合模型(Gaussian Mixture Model, GMM)进行指令运动的自定位和未来运动的规划。该算法已通过图像处理测试，得到了满意的64.14%的结果。作为未来的发展方向，研究结果有望应用于航天器的对接导航。

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Enhanced road edge detection (E-RED) for an autonomous planetary rover

Our work was in collaboration with the Indian Space Research Organisation (ISRO) Satellite Centre (ISAC) to develop an algorithm for road edge detection, for an autonomous planetary rover, and present an approach for maintaining safety in a navigational context. In our algorithm, the sensing of a rover is safely coupled with cameras and Infra-Red (IR) sensors for better navigation. The command motions for self-localization and planning for the prospective motions is done using Gaussian Mixture Model (GMM). The algorithm has been tested using image processing yielding satisfactory result of 64.14%. As a future direction, the results are expected to be applied for space craft navigation in docking.

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2017 3rd International Conference on Applied and Theoretical Computing and Communication Technology (iCATccT)

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