@inproceedings{oai:jaxa.repo.nii.ac.jp:00007352,
 author = {斉藤, 哲平 and 鈴木, 正隆 and 黒田, 洋司 and Saito, Teppei and Suzuki, Masataka and Kuroda, Yoji},
 book = {アストロダイナミクスシンポジウム講演後刷り集, Proceedings of 19th workshop on JAXA Astrodynamics and Flight Mechanics},
 month = {Mar},
 note = {アストロダイナミクスシンポジウム (2009年7月30-31日. 宇宙航空研究開発機構宇宙科学研究本部)), Workshop on JAXA Astrodynamics and Flight Mechanics, 2009 (July 30-31, 2009. Institute of Space and Astronautical Science (ISAS), Japan Aerospace Exploration Agency (JAXA)), Sagamihara, Kanagawa Japan, 本論文では，月・惑星探査ローバが自律移動を安全に行うための重要な要素となる，周辺環境の地形計測とその解析方法について述べる．最初に，惑星探査ミッションにおいて，ローバーミッションの効率化を計るための自律移動機能の重要性と，そのためのシステム構成について述べる．一般的な岩石などの障害物の検出だけではなく，ローバの環境認識においてより重要となる，不整地における地形の凹凸や傾斜等の解析・評価手法について述べる．またそれに基づいたローバの動作計画について述べ，従来のローバシステムと比較し，議論する．, This paper describes novel map representation called Inclined Surface Grid (ISG) maps that provides the ability of modeling traversability of environment. In order to accomplish safer navigation autonomously by mobile robot with avoiding hazardous area, appropriate traversability of the terrain has to be evaluated. In the ISG maps, the patch on each grid stores not only traversability but more detail information - height, slopes (roll and pitch angle) and roughness. The probabilistically updating using stereo vision specified error model is introduced to estimate the information of each patch. Thus the probabilistic updating allows the ISG maps to yield few failed patches. It is shown that our approach also can create the traversability map in rough terrain., 形態: カラー図版あり, Physical characteristics: Original contains color illustrations, 資料番号: AA0064734047},
 publisher = {宇宙航空研究開発機構宇宙科学研究本部, Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA)},
 title = {Terrain Analysis for Lunar/Planetary Surface Exploration},
 volume = {2009},
 year = {2010}
}