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Rapid modeling of high resolution moon-like terrain models for testing of optical localization methods

Lingenauber, Martin and Bodenmüller, Tim and Bartelsen, Jan and Maass, Bolko and Krüger, Hans and Paproth, Carsten and Kuß, Sebastian and Suppa, Michael (2013) Rapid modeling of high resolution moon-like terrain models for testing of optical localization methods. In: 12th Symposium on Advanced Space Technologies in Robotics and Automation. European Space Agency. ASTRA 2013 - 12th Symposium on advanced space technologies in robotics and automation, 15-17 May 2013, Noordwijk, Netherlands.

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Official URL: http://robotics.estec.esa.int/ASTRA/Astra2013/astra2013_programme.html

Abstract

This paper presents an intuitive approach for the rapid generation of arbitrary high resolution Digital Elevation Models (DEM) of moon-like surfaces, with minimal required extra expertise. It combines manual terrain shaping in a soil bin with automatic generation of 3 mm resolution DEMs. The generated DEMs are upscaled to 0.3 m resolution and integrated into lower-resolution DEMs of the lunar surface. The resulting model is used in the DLR project ATON (Autonomous Terrain based Optical Navigation) to realistically simulate optical sensors deployed on a lunar lander, enabling simulation of a complete landing trajectory until touch down. Results for five different landing site DEMs are provided to demonstrate the flexibility in modeling.

Item URL in elib:https://elib.dlr.de/83241/
Document Type:Conference or Workshop Item (Lecture, Paper)
Title:Rapid modeling of high resolution moon-like terrain models for testing of optical localization methods
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lingenauber, Martinmartin.lingenauber (at) dlr.deUNSPECIFIED
Bodenmüller, Timtim.bodenmueller (at) dlr.deUNSPECIFIED
Bartelsen, JanBundeswehr University MunichUNSPECIFIED
Maass, Bolkobolko.maass (at) dlr.deUNSPECIFIED
Krüger, HansHans.Krueger (at) dlr.deUNSPECIFIED
Paproth, Carstencarsten.paproth (at) dlr.deUNSPECIFIED
Kuß, SebastianSebastian.Kuss (at) dlr.deUNSPECIFIED
Suppa, MichaelMichael.Suppa (at) dlr.deUNSPECIFIED
Date:7 June 2013
Journal or Publication Title:12th Symposium on Advanced Space Technologies in Robotics and Automation
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Publisher:European Space Agency
Status:Published
Keywords:Testbed, Moon, Digital Elevation Model, Ground Truth Data
Event Title:ASTRA 2013 - 12th Symposium on advanced space technologies in robotics and automation
Event Location:Noordwijk, Netherlands
Event Type:international Conference
Event Dates:15-17 May 2013
Organizer:ESA - European Space Agency
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Projekt ATON
Location: Berlin-Adlershof , Bremen , Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Institute of Space Systems > Navigation and Control Systems
Optical Information Systems
Deposited By: Lingenauber, Martin
Deposited On:05 Jul 2013 08:58
Last Modified:31 Jul 2019 19:41

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