Landing Area Selection Based on Closed Environment Avoidance from a Single Image During Optical Coarse Hazard Detection

The success of a landed space exploration depends largely on the final landing site, and the most important factor of landing site selection is the safety of lander, so, hazard detection and avoidance are crucial during asteroid landing. Many approaches have been proposed at present, most of them just detect hazard and select an area that is free of hazard threaten, however, in some cases, the selected site should not be the places that located in closed environment, such as the inner of crater. To tackle the issue, an approach for selecting landing site with closed environment avoidance based on a single image during optical coarse hazard detection was proposed in this paper, the approach was designed under the scheme of Chang'e-3's landing process. The approach begins with hazard detection based on a proposed binary method. And then, for searching the candidate circular landing areas, the skeletons of areas with no hazard are taken into account, and then, control constraints are considered to select the landing areas that are accessible by the lander. Finally, the final selected circular landing area are chosen by a proposed scoring method, this method combines the factors of circular areas, including radius, the connection among circular areas, circular area's texture and the cluster relation between circular area's center and all the hazard. At last, serious of experiments would be conducted to test the performance of the proposed approach.