Obstacle Recognition and Safe Area Selection Method in Soft Landing based on a Single Lunar Image

A method of ameliorated Hapke model which is the same with satellite surface covered with deep dust is put forward to satisfy the needs of soft landing on the moon. The linearization method is used to calculate the differential equation and to get the relative three-dimensional height of simulative images for obstacle recognition and selection of safe area during landing phase. It can resolve the problem that is difficult to recognize the slope by texture method. Making use of the simulating lunar images during landing, the model calculation, three-dimensional height rebuilding and safe area selection are realized. The results show the validity of this method using single lunar image.