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dc.contributor.authorSerrano, Naviden_US
dc.contributor.authorBajracharya, Maxen_US
dc.contributor.authorHoward, Ayanna M.en_US
dc.contributor.authorSeraji, Homayounen_US
dc.date.accessioned2011-03-28T15:53:00Z
dc.date.available2011-03-28T15:53:00Z
dc.date.issued2006-03
dc.identifier.citationN. Serrano, M. Bajracharya, A. Howard, H. Seraji, “A Novel Tiered Sensor Fusion Approach for Terrain Characterization and Safe Landing Assessment,” IEEE Aerospace Conference, Big Sky, Montana, March 2006.en_US
dc.identifier.isbn0-7803-9545-X
dc.identifier.issn1095-323X
dc.identifier.urihttp://hdl.handle.net/1853/38298
dc.description©2006 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.en_US
dc.descriptionPresented at the 2006 IEEE Aerospace Conference, March 5-11, 2006, Big Sky, MT.en_US
dc.descriptionDOI: 10.1109/AERO.2006.1655795en_US
dc.description.abstractThis paper presents a novel, tiered sensor fusion methodology for real-time terrain safety assessment. A combination of active and passive sensors, specifically, radar, lidar, and camera, operate in three tiers according to their inherent ranges of operation. Low-level terrain features (e.g. slope, roughness) and high-level terrain features (e.g. hills, craters) are integrated using principles of reasoning under uncertainty. Three methodologies are used to infer landing safety: fuzzy reasoning, probabilistic reasoning, and evidential reasoning. The safe landing predictions from the three fusion engines are consolidated in a subsequent decision fusion stage aimed at combining the strengths of each fusion methodology. Results from simulated spacecraft descents are presented and discussed.en_US
dc.language.isoen_USen_US
dc.publisherGeorgia Institute of Technologyen_US
dc.subjectTerrain safety assessmenten_US
dc.subjectOptical radaren_US
dc.subjectRemote sensingen_US
dc.subjectSpace vehiclesen_US
dc.titleA novel tiered sensor fusion approach for terrain characterization and safe landing assessmenten_US
dc.typeProceedingsen_US
dc.contributor.corporatenameJet Propulsion Laboratory (U.S.)en_US
dc.contributor.corporatenameGeorgia Institute of Technology. Human-Automation Systems Laben_US
dc.contributor.corporatenameGeorgia Institute of Technology. School of Electrical and Computer Engineeringen_US
dc.contributor.corporatenameGeorgia Institute of Technology. Center for Robotics and Intelligent Machinesen_US
dc.publisher.originalInstitute of Electrical and Electronics Engineersen_US
dc.identifier.doi10.1109/AERO.2006.1655795


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