太阳成8722(中国)有限公司-GREEN NO.1

标题: Enhanced Interactive Rendering for Rovers of Lunar Polar Region and Martian Surface

作者: Bi, JH (Bi, Jiehao); Jin, A (Jin, Ang); Chen, C (Chen, Chi); Ying, S (Ying, Shen)

来源出版物: REMOTE SENSING 卷: 16 期: 7 文献号: 1270 DOI: 10.3390/rs16071270 Published Date: 2024 APR

摘要: Appropriate environmental sensing methods and visualization representations are crucial foundations for the in situ exploration of planets. In this paper, we developed specialized visualization methods to facilitate the rover's interaction and decision-making processes, as well as to address the path-planning and obstacle-avoidance requirements for lunar polar region exploration and Mars exploration. To achieve this goal, we utilize simulated lunar polar regions and Martian environments. Among them, the lunar rover operating in the permanently shadowed region (PSR) of the simulated crater primarily utilizes light detection and ranging (LiDAR) for environmental sensing; then, we reconstruct a mesh using the Poisson surface reconstruction method. After that, the lunar rover's traveling environment is represented as a red-green-blue (RGB) image, a slope coloration image, and a theoretical water content coloration image, based on different interaction needs and scientific objectives. For the rocky environment where the Mars rover is traveling, this paper enhances the display of the rocks on the Martian surface. It does so by utilizing depth information of the rock instances to highlight their significance for the rover's path-planning and obstacle-avoidance decisions. Such an environmental sensing and enhanced visualization approach facilitates rover path-planning and remote-interactive operations, thereby enabling further exploration activities in the lunar PSR and Mars, in addition to facilitating the study and communication of specific planetary science objectives, and the production and display of basemaps and thematic maps.

作者关键词: lunar rovers; Mars rovers; human-robot interaction; enhanced rendering; permanently shadowed region (PSR); rocks

地址: [Bi, Jiehao; Ying, Shen] Wuhan Univ, Sch Resource & Environm Sci, Wuhan 430079, Peoples R China.

[Jin, Ang; Chen, Chi] Wuhan Univ, State Key Lab Informat Engn Surveying Mapping & Re, Wuhan 430079, Peoples R China.

通讯作者地址: Ying, S (通讯作者)，Wuhan Univ, Sch Resource & Environm Sci, Wuhan 430079, Peoples R China.

电子邮件地址: jiehaobi@whu.edu.cn; angjin@whu.edu.cn; chichen@whu.edu.cn; shy@whu.edu.cn

影响因子：5