2004 年 52 巻 603 号 p. 141-147
The shape-from-shading technique is investigated for application to obstacle avoidance for lunar landing. Tsai and Shah’s algorithm is accurate, but it is time-consuming and sensitive to its boundary condition. Pentland’s algorithm is robust and fast; however, it produces artifacts in reconstruction. We propose a real-time scheme of extracting flat areas instead of obstacles using Pentland’s method with a domain evaluation.