探测器软着陆中自主障碍区域选取方法

n algorithm for autonomous recognition of obstacles terrain based on the image is proposed. Firstly, referenced rocks` shadow and light areas are extracted by the use of double threshold segmentation based on the two-dimensional maximum entropy. Then, the threshold segmentation image is processed further, including the combination of the shadow and light areas in order to form barrier areas and extracting connected areas etc. Because of the selection of the safe landing areas should not only take the safety into consideration, but also pay more attention to the value of scientific research, the maximum details should be reserved. Finally, dangerous areas are shown by the use of minimum circumscribed rectangle. Experiments demonstrate that the algorithm can be used to divide the safe and dangerous areas accurately and it proves that the method proposed is feasible and robust.