METHOD FOR DETECTING FLAT LAND FROM SHADOW IMAGE

Japanese Patent JP3673857

B2

PROBLEM TO BE SOLVED: To provide a method for detecting a flat land from a shadow image for detecting a flat land on the surface of a subject in real time by applying a shape restoration algorithm for seeking the shape of the surface of the subject based on brightness and darkness.
SOLUTION: The average of the brightness of the image obtained by photographing (S1) the surface covered with regolith with small feature in term of a picture from a high altitude is calculated (S2), thereby the reflectance ratio of the horizontal surface of the surface of the subject is obtained. An algorithm of 'shape restoration from shadow' linearized with this reflectance ratio as reference, so-called Pentland method' is quoted (S6) to an image which is photographed (S4) from a low altitude and whose brightness and darkness is adjusted (S5) to remove influence of inclination in a fixed direction of the whole on the restored surface to detect the flat land on the surface of the subject. This method for detecting the flat land can be used for selecting the landing scheduled spot of a landing machine.

Hiromi Gomi
Shuichi Sasa
Yamaguchi Isao
Hiromichi Yamamoto
Tetsujiro Ninomiya
Yoshiro Hamada

JP2002076802A

July 20, 2005

March 19, 2002

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Japan Aerospace Exploration Agency

B64G1/66; G01B11/24; G06T1/00; G06T7/40; G01C11/06; G06T7/60; G06V20/13; (IPC1-7): G06T1/00; G01B11/24; G06T7/40; G06T7/60

JP11144028A

久保田孝,月・惑星着陸のための陰影を用いた地形認識,第39回宇宙科学技術連合講演会講演集,日本,日本航空宇宙学会,1995年,135-136
McGunnigle,G. Chantler,M. ,Evaluating Kube and Pentland'sFractal Imaging Model,IEEE Transaction on Image processing,日本,IEEE,2001年 4月,Vol.10,No.4,534-542

Shigenobu Oshiro
Masuo Yamada
Fumio Sato

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