Adaptability evaluation method for three-dimensional terrain obstacle avoidance algorithm
An adaptive evaluation, three-dimensional terrain technology, applied in the field of aerospace remote sensing, can solve problems such as large changes in imaging quality, affecting the processing results of obstacle avoidance algorithms, etc., to achieve the effect of concise principle, smooth implementation, and simple implementation process
Inactive Publication Date: 2016-04-27
NANJING UNIV OF SCI & TECH
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[0004] However, due to the particularity of the lunar surface shooting conditions, the imaging process will face unfavorable factors such as illumination changes, imaging distortion, platform vibration, and complex terrain. The quality of the imaging will vary greatly, and the quality of the imaging will directly affect the processing results of the obstacle avoidance algorithm.
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[0014] In order to better understand the technical content of the present invention, specific embodiments are given together with the attached drawings for description as follows.
[0015] Such as figure 1 As shown, according to a preferred embodiment of the present invention, a kind of adaptive evaluation method of three-dimensional terrain obstacle avoidance algorithm, its realization comprises the following steps:
[0016] Step 1. Judging the compatibility between the posterior safe area calculated by using a certain obstacle avoidance algorithm and all the given prior safe areas: if the posterior safe area is not in any prior safe area, then determine the aforementioned obstacle avoidance Algorithm evaluation failed; otherwise, go to step 2 below;
[0017] Step 2. Judging the mutual exclusivity between the aforementioned a posteriori safety region and all given a priori obstacle regions: if the a posteriori safety region intersects with any a priori obstacle region, it is...
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The invention provides an adaptability evaluation method for three-dimensional terrain obstacle avoidance algorithms. The adaptability evaluation method comprises the steps of: step 1, judging compatibility of a posterior safety region obtained through calculation by adopting an obstacle avoidance algorithm with all given priori safety regions, and judging that the obstacle avoidance algorithm fails in evaluation if the posterior safety region is not positioned in any of the priori safety regions, otherwise, entering the step 2; step 2, and judging exclusiveness of the posterior safety region and all given priori obstacle regions, and judging that the obstacle avoidance algorithm fails in evaluation if the posterior safety region intersects any of the priori obstacle regions, otherwise, judging that the obstacle avoidance algorithm succeeds in evaluation. By adopting the adaptability evaluation method, the to-be-evaluated obstacle avoidance algorithm can be effectively evaluated, and an adaptability evaluation result of a three-dimensional terrain region by adopting the to-be-evaluated obstacle avoidance algorithm is obtained, thereby ensuring smooth implementation of a soft-landing obstacle avoidance task.
Description
technical field [0001] The invention relates to the technical field of aerospace remote sensing, in particular to an adaptive evaluation method of a three-dimensional terrain obstacle avoidance algorithm. Background technique [0002] The laser three-dimensional imaging sensor is an important guarantee for the completion of the obstacle avoidance task in the soft landing process. To a certain extent, the imaging and analysis results of the device are the key to the successful landing. [0003] DEM image (Digital Elevation Model) is a terrain model represented by absolute elevation or altitude, which has the characteristics of constant precision, diverse expressions, real-time update, and comprehensive scale. Compared with optical images, DEM data supports three-dimensional terrain visualization, so its results are more accurate in the selection of obstacle points and the detection of safe areas. DEM images will achieve better results when used in obstacle avoidance tasks. ...
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Inventor 孙权森王文王思文沈肖波周雨薇季鸿坤
Owner NANJING UNIV OF SCI & TECH