Robust plane fitting algorithm for landing hazard detection

Xueming Xiao; Hutao Cui; Yang Tian

doi:10.1109/TAES.2015.140378

Robust plane fitting algorithm for landing hazard detection

Xueming Xiao
, Hutao Cui
, Yang Tian

School of Astronautics

Harbin Institute of Technology

Research output: Contribution to journal › Article › peer-review

21 Scopus citations

Abstract

An innovative three-dimensional hazard detection algorithm is proposed for a planetary safe landing mission. Typically, plane fitting is carried out to approximate the surface of the planetary terrain. Current state-of-the-art plane estimation methods with a low breakdown point do not meet the requirements of future pinpoint landing missions. In this paper, a novel robust scale estimator called Preprocessing and Double Iterative Median Scale Estimator (PDIMSE) is proposed, which can achieve a breakdown point of more than 50%. It can be applied to future Mars landing missions.

Original language	English
Article number	7376223
Pages (from-to)	2864-2875
Number of pages	12
Journal	IEEE Transactions on Aerospace and Electronic Systems
Volume	51
Issue number	4
DOIs	https://doi.org/10.1109/TAES.2015.140378
State	Published - 1 Oct 2015

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abstract = "An innovative three-dimensional hazard detection algorithm is proposed for a planetary safe landing mission. Typically, plane fitting is carried out to approximate the surface of the planetary terrain. Current state-of-the-art plane estimation methods with a low breakdown point do not meet the requirements of future pinpoint landing missions. In this paper, a novel robust scale estimator called Preprocessing and Double Iterative Median Scale Estimator (PDIMSE) is proposed, which can achieve a breakdown point of more than 50\%. It can be applied to future Mars landing missions.",

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Robust plane fitting algorithm for landing hazard detection

Abstract

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