Proposition of 3D measurement method using shadow for planetary surface exploration - shadow range finder: SRF

Author

Kunii, Yasuham ; Got, Taeko

Author_Institution

Dept. of Electr., Electron. & Commun. Eng., Chuo Univ. Japan, Tokyo, Japan

Volume

1

fYear

2002

fDate

2002

Firstpage

811

Abstract

In this paper, we propose the Shadow Range Finder (SRF), which can make good use of shadows for the measurement of surface information under direct sunlight. The shadow is stable, and can be recognized in the case of halation. The SRF uses a single camera, which should be installed on a manipulator for sampling, and a manipulator link, which produces its shadow on a measured surface. The principle of the SRF is the same as that of a Laser Range Finder, except that a shadow is used for the scanning slit instead of a laser. In this paper, we present measurements of a real object, such as a stone, and evaluate the validity of the SRF.

Keywords

CCD image sensors; distance measurement; image processing; lunar surface; manipulators; planetary rovers; position measurement; 3D measurement method; CCD camera; direct sunlight; halation; luminous intensity; lunar surface; manipulator link; planetary surface exploration; scanning slit; shadow range finder; single camera; surface information measurement; Cameras; Electric variables measurement; Energy consumption; Extraterrestrial measurements; Mars; Moon; Power measurement; Sampling methods; Space missions; Surface emitting lasers;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on

Print_ISBN

0-7803-7398-7

Type

conf

DOI

10.1109/IRDS.2002.1041490

Filename

1041490