Data-driven surface traversability analysis for Mars 2020 landing site selection
Data-driven surface traversability analysis for Mars 2020 landing site selection
复制标题
数据驱动的2020年火星登陆地点选择的表面可穿越性分析
DOI：
10.1109/aero.2016.7500597
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
M. Heverly
中科院分区：
文献类型：
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作者：
M. Ono;B. Rothrock;E. Almeida;A. Ansar;R. Otero;A. Huertas;M. Heverly
本文的目标有三个方面：1）描述在着陆点选择过程中考虑的火星2020漫游者使命表面机动性的工程挑战，2）引入新的自动化可通行性分析功能，3）呈现顶级候选着陆点的初步分析结果。本文介绍的分析功能包括自动地形分类，自动岩石检测，数字高程模型（DEM）生成，和多ROI（感兴趣的区域）的路线规划。这些分析能力能够充分利用大量的高分辨率轨道器图像，定量评估每个候选站点的表面流动性要求，并拒绝在工程考虑方面进行站点之间比较的主观性。分析结果支持了2015年8月举行的第二次着陆场研讨会的讨论，该研讨会选择了将在第三次研讨会上考虑的八个候选地点。
The objective of this paper is three-fold: 1) to describe the engineering challenges in the surface mobility of the Mars 2020 Rover mission that are considered in the landing site selection processs, 2) to introduce new automated traversability analysis capabilities, and 3) to present the preliminary analysis results for top candidate landing sites. The analysis capabilities presented in this paper include automated terrain classification, automated rock detection, digital elevation model (DEM) generation, and multi-ROI (region of interest) route planning. These analysis capabilities enable to fully utilize the vast volume of high-resolution orbiter imagery, quantitatively evaluate surface mobility requirements for each candidate site, and reject subjectivity in the comparison between sites in terms of engineering considerations. The analysis results supported the discussion in the Second Landing Site Workshop held in August 2015, which resulted in selecting eight candidate sites that will be considered in the third workshop.