Abstract：In order to improve the precision of slope estimation in Mars landing, a method of slope estimation based on clustering of three-dimensional point cloud and random searching the optimal fitting plane was presented. The three-dimensional point cloud data obtained by light detection and ranging (LIDAR) were addressed with sparse representation. Then the data were clustered and segmented according to the sparse coefficients. So the subspaces were determined and the data points in subspace were used to fit plane. The optimal plane can be obtained by random search and the angle between the normal vectors can be got by calculation. The angle obtained equals the slope angle in value. So far, the slope angle estimation was completed. The experiments show that this method can estimate the slope angle very accurately. Compared with the common estimation method, this algorithm has low relative error.
李海波,曹云峰,丁萌,庄丽葵. 基于三维点云聚类的坡度估计方法[J]. 计量学报, 2018, 39(3): 304-309.
LI Hai-bo,CAO Yun-feng,DING Meng,ZHUANG Li-kui. A Method of Slope Estimation Based on Clustering of Three-dimensional Point Cloud. Acta Metrologica Sinica, 2018, 39(3): 304-309.
［1］Lunghi P, Ciarambino M, Lavagna M. A multilayer perceptron hazard detector for vision-based autonomous planetary landing［J］. Advances in Space Research,2016,58(1):131-144.
［2］Craddock R A, Golombek M P. Characteristics of terrestrial basaltic rock populations:Implications for Mars lander and rover science and safety［J］. Icarus,2016,274:50-72.
［3］刘庆民,张蕾,吴立群,等.基于机器视觉的非均匀分布点圆度误差评定［J］.计量学报,2016,37(6):567-570.
［4］刘源泂,孔建益,徐福军,等.基于图像金字塔的钢板表面深度信息提取方法［J］.计量学报,2015,36(4):356-359.
［5］朱奇光,张兴家,陈卫东,等.基于颜色矩的改进尺度不变特征变换的移动机器人定位算法［J］.计量学报,2016,37(2):118-122.
［6］王涛,仲思东.弹丸三维轮廓激光扫描测量方法［J］.计量技术,2015,(2):14-18.
［7］魏凯,宋述古,刘子勇.基于三维激光扫描原理的球形罐容量计量方法研究［J］.计量学报,2015,36(6):607-609.
［8］梁栋,王鹏基,刘良栋.一种基于LIDAR的精确月球软着陆目标点选定方法［J］.空间控制技术与应用,2009,35(6):24-29.
［9］姜肖楠,韩诚山,李祥之.多传感器月面障碍模糊识别方法［J］.计算机仿真,2013,30(4):97-102.
［10］张泽旭,王卫东,崔平远,等.一种行星软着陆地形风险评估方法［J］.哈尔滨工业大学学报,2011,43(5):25-29.
［11］于正湜,朱圣英,崔平远.基于LIDAR的月球着陆区评估与选择方法［C］// 中国宇航学会深空探测技术专业委员会第九届学术年会.杭州,2012.
［12］李明慈,黄桂平,李冰,等.坐标转换在应用中的问题及解决方法［J］.计量技术,2015,(8):25-28.
［13］Elhamifar E, Vidal R. Sparse subspace clustering:algorithm,theory,and applications［J］. IEEE Transactions on Pattern Analysis & Machine Intelligence,2013,35(11):2765-2781.
［14］Boyd S, Vandenberghe L, Faybusovich L. Convex Optimization［J］. IEEE Transactions on Automatic Control,2006,51(11):1859-1859.
［15］Kim S J, Koh K, Lustig M, et al. An Interior-Point Method for Large-Scale l1-Regularized Least Squares［J］. IEEE Journal of Selected Topics in Signal Processing,2007,1(4):606-617.
［16］Boyd S, Parikh N, Chu E, et al. Distributed Optimization and Statistical Learning via the Alternating Direction Method of Multipliers［J］. Foundations and Trends in Machine Learning,2011,3(1):1-122.
2018, Vol. 39 
