A super-resolution algorithm for enhancement of flash lidar data: flight test results

Alexander Bulyshev; Farzin Amzajerdian; Eric Roback; Robert Reisse

doi:10.1117/12.2035251

7 March 2014 A super-resolution algorithm for enhancement of flash lidar data: flight test results

Alexander Bulyshev, Farzin Amzajerdian, Eric Roback, Robert Reisse

Proceedings Volume 9020, Computational Imaging XII; 90200B (2014) https://doi.org/10.1117/12.2035251
Event: IS&T/SPIE Electronic Imaging, 2014, San Francisco, California, United States

Abstract

This paper describes the results of a 3D super-resolution algorithm applied to the range data obtained from a recent Flash Lidar helicopter flight test. The flight test was conducted by the NASA’s Autonomous Landing and Hazard Avoidance Technology (ALHAT) project over a simulated lunar terrain facility at NASA Kennedy Space Center. ALHAT is developing the technology for safe autonomous landing on the surface of celestial bodies: Moon, Mars, asteroids. One of the test objectives was to verify the ability of 3D super-resolution technique to generate high resolution digital elevation models (DEMs) and to determine time resolved relative positions and orientations of the vehicle. 3D super-resolution algorithm was developed earlier and tested in computational modeling, and laboratory experiments, and in a few dynamic experiments using a moving truck. Prior to the helicopter flight test campaign, a 100mX100m hazard field was constructed having most of the relevant extraterrestrial hazard: slopes, rocks, and craters with different sizes. Data were collected during the flight and then processed by the super-resolution code. The detailed DEM of the hazard field was constructed using independent measurement to be used for comparison. ALHAT navigation system data were used to verify abilities of super-resolution method to provide accurate relative navigation information. Namely, the 6 degree of freedom state vector of the instrument as a function of time was restored from super-resolution data. The results of comparisons show that the super-resolution method can construct high quality DEMs and allows for identifying hazards like rocks and craters within the accordance of ALHAT requirements.

Citation Download Citation

Alexander Bulyshev, Farzin Amzajerdian, Eric Roback, and Robert Reisse "A super-resolution algorithm for enhancement of flash lidar data: flight test results", Proc. SPIE 9020, Computational Imaging XII, 90200B (7 March 2014); https://doi.org/10.1117/12.2035251

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available