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2_uno-86-110-Uno-Kentaro.pdf
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🔗 Source: robotics.estec.esa.int
📊 Size: 1.81 MB
📄 Pages: 8 pages
⬇️ Downloads: 68

Summary

Time-of-Flight (ToF) cameras can deliver dense 3D point clouds, but Lunar surface lighting conditions reduce their quality. A Japanese Lunar exploration rover uses a commercial ToF camera as its main hazard-detection sensor. The paper explores the effects of Lunar surface lighting conditions on the range, validity, and accuracy of the ToF camera's data. An indoor Lunar lighting testbed was developed to perform repeatable experiments, and a filtering method is proposed to fuse 3D point cloud frames obtained at different integration times. The method aims to suppress two types of noise caused by strong sunlight: general ambient noise and ghost pixels. Hardware improvements, including a 20 nm band-pass filter, were also implemented to maximize the signal-to-noise ratio.

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Time-of-Flight (ToF) cameras can deliver dense 3D point clouds, but Lunar surface lighting conditions reduce their quality.

Technical Information

  • File Format: PDF
  • File Size: 1.81 MB
  • Pages: 8
  • Language: EN
  • Total Downloads: 68
  • Last Updated: 12 hours ago

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