A Novel Tiered Sensor Fusion Approach for Terrain Characterization and Safe Landing Assessment

Abstract

This paper presents a novel tiered sensor fusion methodology for real-time terrain safety assessment. A combination of active and passive sensors, specifically, radar, lidar, and camera, operate in three tiers according to their inherent ranges of operation. Low-level terrain features (e.g. slope, roughness) and high-level terrain features (e.g. hills, craters) are integrated using principles of reasoning under uncertainty. Three methodologies are used to infer landing safety: Fuzzy Reasoning, Probabilistic Reasoning, and Evidential Reasoning. The safe landing predictions from the three fusion engines are consolidated in a subsequent decision fusion stage aimed at combining the strengths of each fusion methodology. Results from simulated spacecraft descents are presented and discussed. 1,2

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Cite this paper

@inproceedings{Serrano2006ANT, title={A Novel Tiered Sensor Fusion Approach for Terrain Characterization and Safe Landing Assessment}, author={Navid Serrano and Max Bajracharya and Ayanna M. Howard and Homayoun Seraji}, year={2006} }