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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, 2013-05-15 - 2013-05-17, 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/ | ||||||||||||||||||||||||||||||||||||
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| 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: |
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| 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 Start Date: | 15 May 2013 | ||||||||||||||||||||||||||||||||||||
| Event End Date: | 17 May 2013 | ||||||||||||||||||||||||||||||||||||
| Organizer: | ESA - European Space Agency | ||||||||||||||||||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||||||||||||||||||||
| HGF - Program Themes: | Space System Technology | ||||||||||||||||||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||||||||||||||||||
| DLR - Research theme (Project): | R - Projekt ATON (old) | ||||||||||||||||||||||||||||||||||||
| 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: | 24 Apr 2024 19:49 |
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