Browsing by Author "Jyothi, Jaiswal"

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    Hazard Detection Using Shadow Based Algorithm for Spacecraft Safe Landing
    (2015-12-21T09:04:08Z) Anup Kumar, Bhagat; Jyothi, Jaiswal
    The state of the art Entry, Descent, and Landing (EDL) technology can land a spacecrafton Mars somewhere within a very large landing ellipse (20-100 km). However, even if a landing ellipse is only a few kilometers long, it is very likely to contain hazards such as craters, discontinuities, steep slopes, and large rocks, regardless of how the ellipse is selected. A lander that encounters a large rock, falls off a cliff, or tips over on a steep slope can sustain mission-fatal damage. In order to make lunar lander autonomous safely on the moon or mars, the potential hazard should be detected. Effective detection of rocks will also provide information for choosing a better landing region which is suitable for exploration. The 2D maximum entropy thresholding method is proposed to segment the shade area from the image, and then the ellipse fitting method is used to estimate the sizes and locations of the rocks. The Simulation results demonstrate that these methods can effectively detect the rocks in an image.