3D imaging lidar for lunar robotic exploration

Marwan W. Hussein; Jeffrey W. Tripp

doi:10.1117/12.818273

8 May 2009 3D imaging lidar for lunar robotic exploration

Marwan W. Hussein, Jeffrey W. Tripp

Proceedings Volume 7331, Space Exploration Technologies II; 73310H (2009) https://doi.org/10.1117/12.818273
Event: SPIE Defense, Security, and Sensing, 2009, Orlando, Florida, United States

Abstract

Part of the requirements of the future Constellation program is to optimize lunar surface operations and reduce hazards to astronauts. Toward this end, many robotic platforms, rovers in specific, are being sought to carry out a multitude of missions involving potential EVA sites survey, surface reconnaissance, path planning and obstacle detection and classification. 3D imaging lidar technology provides an enabling capability that allows fast, accurate and detailed collection of three-dimensional information about the rover's environment. The lidar images the region of interest by scanning a laser beam and measuring the pulse time-of-flight and the bearing. The accumulated set of laser ranges and bearings constitutes the threedimensional image. As part of the ongoing NASA Ames research center activities in lunar robotics, the utility of 3D imaging lidar was evaluated by testing Optech's ILRIS-3D lidar on board the K-10 Red rover during the recent Human - Robotics Systems (HRS) field trails in Lake Moses, WA. This paper examines the results of the ILRIS-3D trials, presents the data obtained and discusses its application in lunar surface robotic surveying and scouting.

Citation Download Citation

Marwan W. Hussein and Jeffrey W. Tripp "3D imaging lidar for lunar robotic exploration", Proc. SPIE 7331, Space Exploration Technologies II, 73310H (8 May 2009); https://doi.org/10.1117/12.818273

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