Alapfogalmak
High-performance global lunar terrain models and simulations are critical for developing and validating vision-based navigation algorithms for future lunar missions.
Kivonat
The paper presents the development of a high-performance lunar landing simulator using the SurRender software. Key highlights:
Analysis of available lunar terrain datasets, including those from LRO, Kaguya, and Chang'e-2 missions. The Chang'e-2 20m DEM and Kaguya 118m albedo map were selected as the primary input datasets.
New features introduced in the SurRender software, including SuMoL textures for procedural fusion of multi-resolution DEMs, and optimized interfaces for handling large-scale lunar terrain data.
Demonstration of the simulator's capabilities, including rendering full-field 1024x1024 images at 15Hz on a 16-core CPU, with the ability to fuse high-resolution LRO DEM tiles for low-altitude simulations.
Analysis of key simulation aspects, such as the impact of Hapke backscattering on illumination and contrast, and the integration of procedural details like craters and boulders to augment the terrain model.
Acknowledgment of limitations in the input datasets, with discussion of ongoing efforts to improve 3D reconstruction from single-view imagery and scale up the processing of high-resolution LRO data.
The simulator developed in this work will be a valuable asset for the development and validation of vision-based navigation algorithms for future lunar missions.
Statisztikák
The dataset (DEM+DOM) represents 3 TB of data stored on SSD drives.
Simulations are performed at ~15 Hz on a 16-core CPU workstation.
A high-quality image with 100 rays per pixel is rendered in 5 seconds.
The residual between high-quality and medium-quality (10 rays/pixel) images has a standard deviation of only 2.3 LSBs.
Idézetek
"The maturation of precision landing or hazard detection technologies for future Moon missions relies on simulated datasets."
"New automated processing pipelines are also under development to scale up the processing of LRO NAC with the NASA Ames Stereo pipeline."