Real-Time Recognition of Flat Areas for Lunar Landing Using Shape-from-Shading Technique
Hiromi Gomi, Shuichi Sasa, Isao Yamaguchi, Tetsujiro Ninomiya, Yoshiro Hamada · JOURNAL OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES · 2004
The shape-from-shading technique is investigated for application to obstacle avoidance for lunar landing. Tsai and Shah’s algorithm is accurate, but it is time-consuming and sensitive to its boundary condition. Pentland’s algorithm is robust and fast; however, it produces artifacts in reconstruction. We propose a real-time scheme of extracting flat areas instead of obstacles using Pentland’s method with a domain evaluation.