Automated Rock Detection and Shape Analysis from Mars Rover Imagery and 3D Point Cloud Data  

作　　者：邸凯昌 岳宗玉 刘召芹 王树良 

机构地区：[1]State Key Laboratory of Remote Sensing Science, Institute of Remote Sensing Applications, Chinese Academy Sciences [2]School of Software, Beijing Institute of Technology

出　　处：《Journal of Earth Science》2013年第1期125-135,共11页地球科学学刊（英文版）

基　　金：supported by the National Natural Science Foundation of China(Nos.41171355and41002120)

摘　　要：A new object-oriented method has been developed for the extraction of Mars rocks from Mars rover data. It is based on a combination of Mars rover imagery and 3D point cloud data. First, Navcam or Pancam images taken by the Mars rovers are segmented into homogeneous objects with a mean-shift algorithm. Then, the objects in the segmented images are classified into small rock candidates, rock shadows, and large objects. Rock shadows and large objects are considered as the regions within which large rocks may exist. In these regions, large rock candidates are extracted through ground-plane fitting with the 3D point cloud data. Small and large rock candidates are combined and postprocessed to obtain the final rock extraction results. The shape properties of the rocks （angularity, circularity, width, height, and width-height ratio） have been calculated for subsequent ~eological studies.A new object-oriented method has been developed for the extraction of Mars rocks from Mars rover data. It is based on a combination of Mars rover imagery and 3D point cloud data. First, Navcam or Pancam images taken by the Mars rovers are segmented into homogeneous objects with a mean-shift algorithm. Then, the objects in the segmented images are classified into small rock candidates, rock shadows, and large objects. Rock shadows and large objects are considered as the regions within which large rocks may exist. In these regions, large rock candidates are extracted through ground-plane fitting with the 3D point cloud data. Small and large rock candidates are combined and postprocessed to obtain the final rock extraction results. The shape properties of the rocks （angularity, circularity, width, height, and width-height ratio） have been calculated for subsequent ~eological studies.

关 键 词：Mars rover rock extraction rover image 3D point cloud data. 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] V476.4[自动化与计算机技术—计算机科学与技术]