Obstacle Detection Method for a Soft Landing on the Moon.
Ken’ichi Nishiguchi, Shoji Yoshikawa, Takahiro KINOSHITA · JOURNAL OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES · 2000
This paper presents an obstacle detection method for a soft landing on the moon. Instead of modeling the obstacles on the moon we model the safe landing region on the moon as a horizontal and flat region. To find the safe landing region we propose a method using a quantity named local second-order moment of the image intensity, which is a second-order moment in a small region of the image. The ability of the proposed method is evaluated using the real images of the Apollo program and CAD images.