Computer Science – Performance
Scientific paper
Nov 1991
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1991spie.1564..384r&link_type=abstract
In: Optical information processing systems and architectures III; Proceedings of the Meeting, San Diego, CA, July 23-26, 1991 (A
Computer Science
Performance
Optical Correlators, Pattern Recognition, Planetary Landing, Spacecraft Guidance, Computer Vision, Image Processing, Mars Sample Return Missions, Spacecraft Landing
Scientific paper
We demonstrate the use of binary phase-only filters (BPOFs) in a closed loop guidance system for a laboratory lander mockup. Images of a 3-D terrain board taken by the lander's video camera are preprocessed to produce 128 x 128 binary intensity contour maps of the simulated planetary surface. A BPOF is made from a section of the current preprocessed image centered on the exact desired landing site. After the lander has descended to a lower altitude, the BPOF is correlated with a new image. The position of the correlation peak is used in making the next filter and to guide the lander so as to recenter the landing site in the camera's view. We present results of the accuracy with which a site may be tracked from orbit to landing, and the maximum scale, translation, and rotation which can be tolerated between subsequent images. The tolerable scale distortion is quite critical, as it determines the maximum filter update time available at a given descent rate. Application of the results to NASA's proposed Mars Rover Sample Return (MRSR) and Mars Environmental Survey (MESUR) missions is discussed. In both cases, electronic implementations of the algorithm may be sufficient to provide the required guidance system performance.
Hine Butler P.
Reid Max B.
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