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For the) Tj 0 Tc -0.72 Tw ( ) Tj -99.6 -14.04 TD -0.6219 Tc 0.7419 Tw (central hills, only a few photographs are available from the) Tj 0 Tc -0.72 Tw ( ) Tj 0 -14.04 TD -0.6153 Tc 1.0953 Tw (Apollo inheritance. Unfort) Tj 98.52 0 TD 0 Tc 0 Tw (u) Tj 4.68 0 TD -0.6153 Tc 1.0953 Tw (nately, these pho) Tj 63 0 TD -0.6257 Tc 1.1057 Tw (tos\222 resolution) Tj 0 Tc -0.72 Tw ( ) Tj -166.2 -13.92 TD -0.617 Tc 0.977 Tw (is nominally over 10m/pixel, and is not enough to ide) Tj 201.96 0 TD 0 Tc 0 Tw (n) Tj 4.68 0 TD -0.667 Tc -0.173 Tw (tify ) Tj -206.64 -14.04 TD -0.6232 Tc 0.5032 Tw (the landing obstacles exactly. The 1m/pixel is the best res) Tj 211.2 0 TD -0.4982 Tc 0 Tw (o-) Tj -211.2 -14.04 TD -0.6083 Tc 1.5855 Tw (lution, but only for few shots around a) Tj 0 Tc -0.6 Tw ( ) Tj 152.88 0 TD -0.6058 Tc 0.0058 Tw (crater ) Tj 24 0 TD -0.6084 Tc 1.5684 Tw (central hill.) Tj 0 Tc -0.6 Tw ( ) Tj -176.88 -13.92 TD -0.6257 Tc 3.5228 Tw (Even from the preceding SELENE, the best ) Tj 2.8714 Tc 0 Tw (e) Tj 190.2 0 TD 0 Tc (x) Tj 4.68 0 TD -0.6336 Tc -0.0864 Tw (pected ) Tj -194.88 -140.04 TD -0.4902 Tc 0.0102 Tw (ground re) Tj 36.36 0 TD -0.5164 Tc 0.0364 Tw (solution will only be 10m/pixel using ) Tj 141.36 0 TD -0.5264 Tc 0.0464 Tw (its ) Tj 10.56 0 TD -0.577 Tc 0 Tw (LISM) Tj 22.92 0 TD 0 Tc (.) Tj 2.16 0 TD ( ) Tj -99 -14.28 TD /F0 10.56 Tf ( ) Tj -19.44 -13.92 TD -0.5036 Tc (Obstacles) Tj ET 165.84 449.76 38.88 0.96 re f BT 204.72 451.92 TD 0 Tc ( ) Tj -123.72 -13.8 TD /F1 10.56 Tf -0.6163 Tc 0.702 Tw (Based on the scientific consideration for the ge) Tj 173.88 0 TD 0 Tc 0 Tw (o) Tj 4.68 0 TD -0.6496 Tc -0.0704 Tw (physical ) Tj -188.64 -14.04 TD -0.6167 Tc 0.6167 Tw (process of a crater and) Tj 0 Tc -0.6 Tw ( ) Tj 85.92 0 TD -0.0086 Tc 0 Tw (a) Tj 4.08 0 TD -0.6108 Tc 0.6108 Tw ( central hill, the following assum) Tj 121.08 0 TD -0.4982 Tc 0 Tw (p-) Tj -211.08 -13.92 TD -0.6124 Tc 0.6124 Tw (tions are presented from the science side as the landing site) Tj 0 Tc -0.72 Tw ( ) Tj 0 -14.04 TD -0.5148 Tc 0 Tw (situ) Tj 13.2 0 TD -0.0086 Tc (a) Tj 4.2 0 TD -0.5049 Tc 0.0249 Tw (tion for the) Tj 40.92 0 TD 0 Tc 0 Tw ( ) Tj 2.16 0 TD -0.4982 Tc (lander) Tj 23.4 0 TD -0.4974 Tc 0.0174 Tw ( design conditions.) Tj 70.08 0 TD 0 Tc 0 Tw ( ) Tj -146.76 -14.04 TD (*) Tj 4.56 0 TD -0.6293 Tc 0.6293 Tw (Rock distribution is assumed to be the same level as the) Tj 0 Tc -0.72 Tw ( ) Tj 2.88 -13.92 TD -0.5352 Tc 0 Tw (Surveyer) Tj 33.84 0 TD -0.0365 Tc (-) Tj 2.88 0 TD -0.4961 Tc 0.0161 Tw (7 lan) Tj 18.36 0 TD 0 Tc 0 Tw (d) Tj 4.8 0 TD -0.4969 Tc 0.0169 Tw (ing area) Tj 29.76 0 TD -0.5042 Tc 0.0242 Tw ( as the worst case) Tj 64.92 0 TD 0 Tc 0 Tw (.) Tj 2.16 0 TD ( ) Tj -164.16 -14.04 TD (*) Tj 4.56 0 TD -0.6075 Tc 1.7009 Tw (Crater distribution is assumed to be same level of the) Tj 0 Tc -0.72 Tw ( ) Tj 247.32 378 TD -0.5007 Tc 0.0207 Tw (high land region of the moon.) Tj 111.12 0 TD 0 Tc 0 Tw ( ) Tj -118.56 -14.04 TD -0.5137 Tc 0.0337 Tw (*Angle of hill slope is assumed) Tj 117.12 0 TD -0.5033 Tc 0.0233 Tw ( as steep as 30\260 poss) Tj 75.6 0 TD -0.0557 Tc 0 Tw (i) Tj 2.4 0 TD -0.6139 Tc (bly.) Tj 13.92 0 TD 0 Tc ( ) Tj -209.04 -13.92 TD -0.6138 Tc 2.1888 Tw (*Surroundings of the landing point are assumed to be) Tj 0 Tc -0.72 Tw ( ) Tj 7.44 -14.04 TD -0.4843 Tc 0 Tw (co) Tj 9 0 TD 0 Tc (v) Tj 4.68 0 TD -0.5135 Tc 0.0335 Tw (ered with a thick legolith layer.) Tj 115.2 0 TD 0 Tc 0 Tw ( ) Tj -133.68 -14.04 TD -0.6215 Tc 3.1655 Tw (From the mechanical specification limit, SELENE) Tj 199.56 0 TD -0.0365 Tc 0 Tw (-) Tj 2.76 0 TD -0.5635 Tc -0.0365 Tw (B ) Tj -212.16 -13.92 TD -0.615 Tc 0.615 Tw (lander will be able to land saf) Tj 109.56 0 TD -0.6262 Tc 0.6562 Tw (ely over only small obstacles.) Tj 0 Tc -0.72 Tw ( ) Tj -109.56 -14.04 TD -0.6154 Tc 1.2154 Tw (For the design ) Tj 0.5914 Tc 0 Tw (a) Tj 61.56 0 TD -0.0278 Tc (s) Tj 3.48 0 TD -0.626 Tc 1.226 Tw (sumption based on the above conditions,) Tj 0 Tc -0.72 Tw ( ) Tj -65.04 -14.04 TD -0.6224 Tc 2.5424 Tw (the followings four are assumed as the ) Tj 1.92 Tc 0 Tw (o) Tj 163.2 0 TD 0 Tc (b) Tj 4.68 0 TD -0.6361 Tc 2.5561 Tw (stacles in the) Tj 0 Tc -0.72 Tw ( ) Tj -167.88 -13.92 TD -0.6307 Tc 0 Tw (SELENE) Tj 35.64 0 TD -0.0365 Tc (-) Tj 2.76 0 TD -0.6243 Tc 0.8643 Tw (B study team. Those will have great impacts for) Tj 0 Tc -0.6 Tw ( ) Tj -38.4 -14.04 TD -0.6093 Tc 0.9993 Tw (the design of mechanical constraints of the lander, such) Tj 0 Tc -0.6 Tw ( ) Tj 211.2 0 TD -0.6782 Tc -0.0418 Tw (as ) Tj -211.2 -14.04 TD -0.6187 Tc 0.3187 Tw (landing legs, landing speed, mechan) Tj 132.72 0 TD -0.0557 Tc 0 Tw (i) Tj 2.28 0 TD -0.6163 Tc 0.1663 Tw (cal clearance under the ) Tj -135 -13.92 TD -0.4897 Tc 0.0097 Tw (lander, and so on.) Tj 66 0 TD -0.5314 Tc 0.0514 Tw ( \(Fig. 3\)) Tj 29.64 0 TD 0 Tc 0 Tw ( ) Tj -95.64 -14.04 TD -0.5044 Tc 0.0244 Tw (Obstacles :=) Tj 46.68 0 TD 0 Tc 0 Tw ( ) Tj -39.48 -14.04 TD -0.5458 Tc (:=) Tj 7.92 0 TD -0.5112 Tc -0.3188 Tw (Rocks of 0.5 m or more in height, 1m or more in width.) Tj 203.52 0 TD 0 Tc 0 Tw ( ) Tj -211.56 -13.92 TD -0.5458 Tc (:=) Tj 7.92 0 TD -0.5125 Tc 0.0325 Tw (Craters with radius of 2m or more.) Tj 129.12 0 TD 0 Tc 0 Tw ( ) Tj -137.04 -14.04 TD -0.5458 Tc (:=) Tj 7.92 0 TD -0.5043 Tc 0.0243 Tw (Slopes inclined at an angle of 30\260 or more.) Tj 159 0 TD 0 Tc 0 Tw ( ) Tj -166.92 -14.04 TD -0.4918 Tc 0.0118 Tw (:=Shadow are) Tj 52.56 0 TD -0.0086 Tc 0 Tw (a) Tj 4.2 0 TD 0 Tc ( ) Tj -54 -13.92 TD -0.6178 Tc 1.9912 Tw (In addition, for the post landing missions, such as the) Tj 208.8 0 TD 0 Tc 0 Tw ( ) Tj -218.64 -14.04 TD -0.6165 Tc 1.0965 Tw (small rover) Tj 42.12 0 TD -0.6222 Tc 1.1022 Tw ( exploration, the following conditions are more) Tj 0 Tc -0.6 Tw ( ) Tj -42.12 -14.04 TD -0.6138 Tc 0.2538 Tw (desirable. However, although the obstacle dete) Tj 170.4 0 TD -0.0086 Tc 0 Tw (c) Tj 4.08 0 TD -0.6134 Tc 0.1734 Tw (tion shall be ) Tj -174.48 -13.92 TD -0.6259 Tc 1.1059 Tw (done in real time and autonomous, those inte) Tj 169.68 0 TD -0.0557 Tc 0 Tw (l) Tj 2.4 0 TD -0.633 Tc 1.113 Tw (ligent and/or) Tj 0 Tc -0.72 Tw ( ) Tj -172.08 -14.04 TD -0.621 Tc 1.101 Tw (complicated judgmen) Tj 80.52 0 TD -0.6229 Tc 1.1029 Tw (ts might need more intellectual) Tj 0 Tc -0.6 Tw ( ) Tj 119.04 0 TD -0.6186 Tc 0 Tw (gui) Tj 11.64 0 TD -0.4982 Tc (d-) Tj -211.2 -14.04 TD -0.4865 Tc 0.0065 Tw (ance ) Tj 19.56 0 TD -0.5214 Tc 0.0414 Tw (systems, and will be the future study su) Tj 146.04 0 TD 0 Tc 0 Tw (b) Tj 4.8 0 TD -0.5061 Tc (jects.) Tj 18.96 0 TD 0 Tc ( ) Tj -182.16 -14.04 TD /F3 10.56 Tf (\245) Tj 4.8 0 TD /F1 10.56 Tf -0.6255 Tc 1.8388 Tw (Landing site never be in shadow for all mission days) Tj 0 Tc -0.72 Tw ( ) Tj 2.64 -13.92 TD -0.4911 Tc 0 Tw (long.) Tj 18.96 0 TD 0 Tc ( ) Tj -26.4 -14.16 TD /F3 10.56 Tf (\245) Tj 4.68 0 TD /F1 10.56 Tf -0.6159 Tc 0.1359 Tw (As near as possible to the exploration target \(Central hil) Tj 201.72 0 TD -0.0557 Tc 0 Tw (l) Tj 2.28 0 TD -0.6182 Tc (\).) 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Tw ( ) Tj -157.56 -13.8 TD 0.0278 Tc (T) Tj 5.88 0 TD -0.6043 Tc 0.0043 Tw (he ) Tj 10.8 0 TD -0.5786 Tc 0 Tw (SEL) Tj 16.8 0 TD -0.5629 Tc (ENE) Tj 18.84 0 TD -0.0365 Tc (-) Tj 2.76 0 TD 0.0365 Tc (B) Tj 6.48 0 TD -0.6182 Tc 0.0182 Tw ( lander ) Tj 26.76 0 TD -0.6189 Tc 0.0189 Tw (system concept is summ) Tj 89.4 0 TD -0.0086 Tc 0 Tw (a) Tj 4.08 0 TD -0.6236 Tc 0.0236 Tw (rized in ) Tj -191.64 -13.92 TD -0.6376 Tc 0.7976 Tw (Table 1. It will) Tj 54.96 0 TD -0.6196 Tc 0.7096 Tw ( be launched by H2) Tj 73.8 0 TD -0.0365 Tc 0 Tw (-) Tj 2.76 0 TD -0.6193 Tc 0.7153 Tw (A rocket, as a half pa) Tj 79.8 0 TD -0.7382 Tc 0 Tw (y-) Tj -211.32 -14.04 TD -0.6134 Tc 1.6534 Tw (load. It will) Tj 0 Tc -0.48 Tw ( ) Tj 51.6 0 TD -0.6219 Tc 0 Tw (enter) Tj 18 0 TD -0.6251 Tc 1.7051 Tw ( into the) Tj 0 Tc -0.6 Tw ( ) Tj 36.12 0 TD -0.6307 Tc 1.5907 Tw (moon polar) Tj 43.8 0 TD -0.614 Tc 1.574 Tw ( orbit after 5 days) Tj 0 Tc -0.72 Tw ( ) Tj -149.52 -14.04 TD -0.6139 Tc 0 Tw (flight) Tj 19.2 0 TD -0.6 Tc (. ) Tj 6.36 0 TD -0.6058 Tc 2.2858 Tw (The orbit height is ) Tj 1.6714 Tc 0 Tw (a) Tj 81.48 0 TD -0.0278 Tc (s) Tj 3.48 0 TD -0.6143 Tc 2.2943 Tw (sumed as 50) Tj 50.16 0 TD -0.0365 Tc 0 Tw (-) Tj 2.76 0 TD -0.5631 Tc (100km) Tj 26.28 0 TD -0.6414 Tc 2.3214 Tw (. Those) Tj 0 Tc -0.72 Tw ( ) Tj -189.72 -13.92 TD -0.6199 Tc 0.9999 Tw (orbit conditions are assumed as it to) Tj 0 Tc -0.6 Tw ( ) Tj 138 0 TD -0.6107 Tc 0 Tw (SELENE) Tj 35.52 0 TD 0 Tc ( ) Tj 3 0 TD -0.6154 Tc 0.9754 Tw (as poss) Tj 26.88 0 TD -0.0557 Tc 0 Tw (i) Tj 2.28 0 TD -0.6461 Tc -0.0739 Tw (ble, ) Tj -205.68 -14.04 TD -0.6151 Tc 0.0323 Tw (to reduce development cost and utilize SELENE e) Tj 183.36 0 TD 0 Tc 0 Tw (x) Tj 4.56 0 TD -0.6308 Tc -0.0892 Tw (perience ) Tj -187.92 -14.04 TD -0.6029 Tc 2.8829 Tw (and ) Tj 2.28 Tc 0 Tw (o) Tj 23.04 0 TD 0 Tc (b) Tj 4.68 0 TD -0.6268 Tc 2.9411 Tw (served data. In the SELENE observed data, the) Tj 0 Tc -0.72 Tw ( ) Tj -27.72 -13.92 TD -0.6292 Tc 1.9492 Tw (DEM \(Digital Elevation Map\) data is the most expected) Tj 0 Tc -0.72 Tw ( ) Tj 0 -14.04 TD -0.6098 Tc 2.0738 Tw (and promising data for the SELENE) Tj 143.64 0 TD -0.0365 Tc 0 Tw (-) Tj 2.76 0 TD -0.6133 Tc 2.0533 Tw (B safe and precise) Tj 0 Tc -0.72 Tw ( ) Tj -146.4 -14.04 TD -0.5014 Tc 0 Tw (lan) Tj 11.4 0 TD 0 Tc (d) Tj 4.8 0 TD -0.4939 Tc 0.0139 Tw (ing. ) Tj 18.48 0 TD 0 Tc 0 Tw ( ) Tj -24.84 -13.92 TD -0.6061 Tc 0.0061 Tw (The size of the lander is assumed about 3.) Tj 151.44 0 TD 0 Tc 0 Tw (7) Tj 4.8 0 TD -0.6201 Tc 0.0801 Tw (m in diameter) Tj 50.64 0 TD -0.72 Tc 0 Tw (, ) Tj -216.72 -14.04 TD -0.6193 Tc 1.4421 Tw (that is the nominal fairing size of H2) Tj 141.72 0 TD -0.0365 Tc 0 Tw (-) Tj 2.76 0 TD -0.5722 Tc -0.0278 Tw (A. ) Tj 12.48 0 TD -0.6374 Tc 1.4774 Tw (On the lander, a) Tj 0 Tc -0.84 Tw ( ) Tj -156.96 -14.04 TD -0.6329 Tc 1.1729 Tw (small moon rover) Tj 0 Tc -0.6 Tw ( ) Tj 69.84 0 TD -0.6256 Tc 1.1056 Tw (will be embarked) Tj 0 Tc -0.6 Tw ( ) Tj 68.64 0 TD -0.6206 Tc 1.1006 Tw (for the geological ) Tj 0.4714 Tc 0 Tw (e) Tj 72.72 0 TD -0.6182 Tc (x-) Tj -211.2 -13.92 TD -0.6102 Tc (ploration) Tj 32.64 0 TD -0.6267 Tc 0.7467 Tw ( on the moon) Tj 52.92 0 TD -0.6159 Tc 0.6879 Tw (. The dry weight of ) Tj 0.0643 Tc 0 Tw (t) Tj 77.28 0 TD -0.6202 Tc 0.7402 Tw (he lander is) Tj 0 Tc -0.6 Tw ( ) Tj 45.48 0 TD -0.0086 Tc 0 Tw (a) Tj 4.08 0 TD -0.6322 Tc (s-) Tj 32.04 195.96 TD -0.6184 Tc 0.0184 Tw (sumed ) Tj 26.76 0 TD -0.6075 Tc 0.0075 Tw (around ) Tj 27.96 0 TD -0.6 Tc 0 Tw (520 ) Tj 16.32 0 TD (kg) Tj 9.36 0 TD 0 Tc (,) Tj 2.04 0 TD ( ) Tj 2.4 0 TD -0.6135 Tc 0.1335 Tw (including 50kg ) Tj 57.6 0 TD -0.6143 Tc 0.3143 Tw (science mission pa) Tj 68.88 0 TD -0.7382 Tc 0 Tw (y-) Tj -211.32 -14.04 TD -0.4961 Tc 0.0161 Tw (load ) Tj 18.36 0 TD -0.4835 Tc 0.0035 Tw (and an) Tj 24.96 0 TD 0 Tc 0 Tw ( ) Tj 2.16 0 TD -0.4968 Tc (explor) Tj 24 0 TD -0.0086 Tc (a) Tj 4.2 0 TD -0.5078 Tc 0.0278 Tw (tion ) Tj 16.56 0 TD -0.5136 Tc 0 Tw (rover.) Tj 21.84 0 TD -0.5314 Tc 0.0514 Tw ( \(Fig. 4\)) Tj 29.64 0 TD 0 Tc 0 Tw ( ) Tj -133.32 -13.92 TD -0.6232 Tc 1.2832 Tw (Major technical missions for SELENE) Tj 146.4 0 TD -0.0365 Tc 0 Tw (-) Tj 2.76 0 TD -0.5635 Tc -0.0365 Tw (B ) Tj 9.72 0 TD -0.6172 Tc 1.2172 Tw (were summ) Tj 44.52 0 TD -0.5026 Tc 0 Tw (a-) Tj -211.8 -14.04 TD -0.5008 Tc 0.0208 Tw (rized as) Tj 28.56 0 TD -0.0557 Tc 0 Tw (;) Tj 2.4 0 TD 0 Tc ( ) Tj -21.6 -14.16 TD /F3 10.56 Tf (\245) Tj 4.8 0 TD /F1 10.56 Tf -0.4557 Tc (Pin) Tj 12.72 0 TD -0.0365 Tc (-) Tj 2.88 0 TD -0.5115 Tc -0.3085 Tw (point landing enduring the moon gravity disto) Tj 169.32 0 TD -0.0365 Tc 0 Tw (r) Tj 3 0 TD -0.5023 Tc (tion.) Tj 16.56 0 TD 0 Tc ( ) Tj -209.28 -13.92 TD /F3 10.56 Tf (\245) Tj 4.68 0 TD /F1 10.56 Tf -0.6204 Tc 1.1004 Tw (Autonomous ) Tj 0.48 Tc 0 Tw (o) Tj 56.16 0 TD -0.6236 Tc (bstacle) Tj 24.96 0 TD -0.0278 Tc (s) Tj 3.48 0 TD -0.6348 Tc 1.1148 Tw ( detection) Tj 36.24 0 TD -0.6276 Tc 1.1076 Tw ( and avoi) Tj 35.28 0 TD 0 Tc 0 Tw (d) Tj 4.68 0 TD -0.6065 Tc (ance) Tj 16.92 0 TD -0.6354 Tc 1.1154 Tw ( during) Tj 0 Tc -0.72 Tw ( ) Tj -172.44 -13.92 TD -0.5087 Tc 0.0287 Tw (vertical descent.) Tj 60 0 TD 0 Tc 0 Tw ( ) Tj -69.96 -14.16 TD /F3 10.56 Tf (\245) Tj 4.8 0 TD /F1 10.56 Tf -0.5044 Tc 0.0244 Tw (Moon landing mechanism) Tj 99.12 0 TD 0 Tc 0 Tw ( ) Tj -103.44 -13.8 TD -0.6109 Tc 1.3309 Tw (Landing for) Tj 0 Tc -0.6 Tw ( ) Tj 48.12 0 TD -0.6367 Tc 1.3567 Tw (such severe) Tj 43.32 0 TD -0.6215 Tc 1.3215 Tw ( areas, where a lot of obstacles) Tj 0 Tc -0.6 Tw ( ) Tj -101.28 -14.04 TD -0.6144 Tc 0.3744 Tw (exist essentially, will be ) Tj 89.52 0 TD -0.6249 Tc 0 Tw (inevitable) Tj 35.4 0 TD -0.6324 Tc 0.5124 Tw ( for the future moon var) Tj 88.68 0 TD -0.5261 Tc 0 Tw (i-) Tj -213.6 -14.04 TD -0.6214 Tc 1.2214 Tw (ous activities. Those intere) Tj 99.48 0 TD -0.6197 Tc 1.2197 Tw (sted areas are) Tj 50.64 0 TD -0.6322 Tc 1.2322 Tw ( such as) Tj 0 Tc -0.72 Tw ( ) Tj 34.08 0 TD -0.6246 Tc 1.2246 Tw (inside ) Tj 0.5635 Tc 0 Tw (r) Tj 27.6 0 TD -0.5026 Tc (e-) Tj -211.8 -13.92 TD -0.6139 Tc (gion) Tj 16.32 0 TD -0.0278 Tc (s) Tj 3.48 0 TD -0.608 Tc 0.518 Tw ( of a crater, mountai) Tj 74.52 0 TD 0 Tc 0 Tw (n) Tj 4.68 0 TD -0.6276 Tc 0.5076 Tw (ous region) Tj 38.52 0 TD -0.0278 Tc 0 Tw (s) Tj 3.48 0 TD -0.6115 Tc 0.3955 Tw (, or polar regions etc. ) Tj -141 -14.04 TD -0.6153 Tc 2.6553 Tw (To land safely and accurately at such) Tj 149.76 0 TD -0.615 Tc 2.655 Tw ( severe) Tj 27.96 0 TD -0.6305 Tc 2.6705 Tw ( areas, the) Tj 0 Tc -0.72 Tw ( ) Tj -177.72 -14.04 TD -0.6185 Tc 0.7385 Tw (highly pr) Tj 33.6 0 TD -0.0086 Tc 0 Tw (e) Tj 4.08 0 TD -0.6209 Tc 0.7409 Tw (cise guidance navigation and control technology,) Tj 0 Tc -0.72 Tw ( ) Tj -37.68 -13.92 TD -0.6137 Tc 2.4337 Tw (the reliable and robust obstacle detection and) Tj 0 Tc -0.6 Tw ( ) Tj 181.44 0 TD -0.6234 Tc -0.0966 Tw (avoidance ) Tj -181.44 -14.04 TD -0.6137 Tc 0.8837 Tw (technology, and the tough landing mechanism that can ) Tj 0.2314 Tc 0 Tw (a) Tj 211.8 0 TD -0.5026 Tc (c-) Tj -211.8 -14.04 TD -0.6062 Tc 0.8462 Tw (cept and allow the obstacles for some extent, are indispe) Tj 211.2 0 TD -0.4982 Tc 0 Tw (n-) Tj -211.2 -13.92 TD -0.623 Tc 2.003 Tw (sable. In SELENE) Tj 71.76 0 TD -0.0365 Tc 0 Tw (-) Tj 2.76 0 TD -0.6187 Tc 1.9387 Tw (B, those technological demonstration) Tj 140.76 0 TD -0.7478 Tc 0.0278 Tw (s ) Tj -215.28 -14.04 TD -0.5143 Tc 0.0343 Tw (will be the main techn) Tj 82.68 0 TD 0 Tc 0 Tw (o) Tj 4.8 0 TD -0.5151 Tc 0.0351 Tw (logical mission.) Tj 58.68 0 TD 0 Tc 0 Tw ( ) Tj -136.32 -14.04 TD -0.6148 Tc 2.2048 Tw (After landing, the geological explorat) Tj 144.24 0 TD -0.6157 Tc 2.2157 Tw (ion by the small) Tj 0 Tc -0.6 Tw ( ) Tj -154.08 -13.92 TD -0.629 Tc 0.989 Tw (moon rover will be done as the science mi) Tj 160.68 0 TD -0.0278 Tc 0 Tw (s) Tj 3.48 0 TD -0.6256 Tc 0.9856 Tw (sion. Since the) Tj 0 Tc -0.72 Tw ( ) Tj -164.16 -14.04 TD -0.6219 Tc 1.1019 Tw (assumed rover size is only about 50) Tj 135.72 0 TD -0.0365 Tc 0 Tw (-) Tj 2.76 0 TD -0.6248 Tc 1.1048 Tw (80cm, it can get over) Tj 0 Tc -0.6 Tw ( ) Tj -138.48 -14.04 TD -0.6258 Tc 1.1258 Tw (only the rocks lower than 20cm, it may not be able to get) Tj 0 Tc -0.72 Tw ( ) Tj 0 -13.92 TD -0.626 Tc 1.106 Tw (over the steep rim of crater, those diameter is more than a) Tj 0 Tc -0.72 Tw ( ) Tj 0 -14.04 TD -0.5813 Tc 0.2213 Tw (few m) Tj 23.76 0 TD -0.6163 Tc 0.1534 Tw (eters. For the rover exploration, the obstacles distrib) Tj 187.44 0 TD -0.6182 Tc 0 Tw (u-) Tj -211.2 -14.04 TD -0.6223 Tc 0.6623 Tw (tion might be more serious problem than the landing. Thus) Tj 0 Tc -0.72 Tw ( ) Tj 0 -13.92 TD -0.6241 Tc 0.1201 Tw (obstacles detection will be required not only for safe landing ) Tj 0 -14.04 TD -0.5087 Tc 0.0287 Tw (but also for effective rover explor) Tj 124.56 0 TD -0.0086 Tc 0 Tw (a) Tj 4.2 0 TD -0.5023 Tc (tion.) Tj 16.56 0 TD 0 Tc ( ) Tj -135.48 -14.04 TD -0.6202 Tc 0.3802 Tw (For a small rover, the traveling dist) Tj 127.92 0 TD -0.6266 Tc 0.2966 Tw (ance and the scientific ) Tj -137.76 -13.92 TD -0.0365 Tc 0 Tw (r) Tj 2.88 0 TD -0.0086 Tc (e) Tj 4.08 0 TD -0.6215 Tc 1.5148 Tw (sults might be in inverse proportion. If the lander could) Tj 0 Tc -0.72 Tw ( ) Tj -6.96 -14.04 TD -0.6187 Tc 1.0987 Tw (find a safe landing zone, very close to the central hill, and) Tj 0 Tc -0.72 Tw ( ) Tj 0 -14.04 TD -0.6172 Tc 0.7201 Tw (could guide and control to that zone precisely,) Tj 0 Tc -0.6 Tw ( ) Tj 174.12 0 TD -0.6275 Tc 0 Tw (better) Tj 20.28 0 TD -0.5952 Tc 0.7152 Tw ( scie) Tj 16.8 0 TD -0.4982 Tc 0 Tw (n-) Tj -211.2 -13.92 TD -0.5154 Tc 0.0354 Tw (tific results) Tj 40.56 0 TD -0.4909 Tc 0.0109 Tw ( could be expected) Tj 70.08 0 TD -0.48 Tc 0 Tw (. ) Tj 4.32 0 TD 0 Tc ( ) Tj -105.12 -14.04 TD ( ) Tj 49.8 -14.28 TD /F0 10.56 Tf -0.503 Tc 0.023 Tw (Obstacle ) Tj 37.44 0 TD -0.4795 Tc 0 Tw (Dete) Tj 18.6 0 TD -0.0086 Tc (c) Tj 4.2 0 TD -0.0365 Tc (t) Tj 3 0 TD -0.4903 Tc 0.0103 Tw (ion Sensors) Tj ET 375 253.68 109.2 0.96 re f BT 484.2 255.84 TD 0 Tc 0 Tw ( ) Tj -158.88 -13.68 TD /F1 10.56 Tf -0.6073 Tc 0.1273 Tw (As the) Tj 23.76 0 TD -0.6214 Tc 0.1414 Tw ( obstacles) Tj 35.4 0 TD -0.6276 Tc 0.1476 Tw ( detection sensors) Tj 64.2 0 TD -0.5078 Tc 0.1478 Tw (, t) Tj 6.6 0 TD -0.6922 Tc 0 Tw (wo) Tj 11.64 0 TD -0.6207 Tc 0.1407 Tw ( sensor types were ) Tj -151.56 -14.04 TD -0.6043 Tc 0 Tw (co) Tj 8.76 0 TD 0 Tc (n) Tj 4.68 0 TD -0.6196 Tc 0.5896 Tw (sidered in the first stage.) Tj 0 Tc -0.6 Tw ( ) Tj 91.8 0 TD -0.6346 Tc 0.6346 Tw (To reduce the required fuel for) Tj 0 Tc -0.72 Tw ( ) Tj -105.24 -14.04 TD -0.619 Tc 0.409 Tw (the vertical descent, the SELENE) Tj 123.72 0 TD -0.0365 Tc 0 Tw (-) Tj 2.76 0 TD -0.6115 Tc 0.3715 Tw (B obstacle detection su) Tj 84.72 0 TD -0.4982 Tc 0 Tw (b-) Tj -211.2 -13.92 TD -0.6024 Tc 1.3224 Tw (system is ) Tj 0.6835 Tc 0 Tw (r) Tj 41.16 0 TD -0.0086 Tc (e) Tj 4.08 0 TD -0.6145 Tc 1.3545 Tw (quired to detect obstacles from higher altitude) Tj 0 Tc -0.72 Tw ( ) Tj -45.24 -14.04 TD -0.5985 Tc 0 Tw (\(>300) Tj 22.32 0 TD -0.0365 Tc (-) Tj 2.76 0 TD -0.6116 Tc 0.3116 Tw (500m\), for wide area \(>1000x1000m\), and in higher ) Tj -25.08 -14.04 TD -0.5165 Tc 0 Tw (fr) Tj 6 0 TD -0.0086 Tc (e) Tj 4.2 0 TD -0.4984 Tc 0.0184 Tw (quency \(> 1Hz\).) Tj 61.56 0 TD 0 Tc 0 Tw ( ) Tj -61.8 -13.92 TD -0.6332 Tc 3.1832 Tw (The Laser Range Finder \(LRF\) seemed to be most) Tj 0 Tc -0.6 Tw ( ) Tj -9.96 -14.04 TD -0.6122 Tc 0 Tw (pro) Tj 12.36 0 TD -0.0557 Tc (m) Tj 7.44 0 TD -0.6276 Tc 0.5209 Tw (ising, since LRF could measure 3D shape of the lan) Tj 191.52 0 TD -0.6182 Tc 0 Tw (d-) Tj -211.32 -14.04 TD -0.6298 Tc 2.8048 Tw (ing site directly with less computing process. The only) Tj 0 Tc -0.96 Tw ( ) Tj 0 -13.92 TD -0.6122 Tc 0 Tw (pro) Tj 12.24 0 TD 0 Tc (b) Tj 4.68 0 TD -0.6258 Tc 1.2978 Tw (lem left might be the low) Tj 97.2 0 TD -0.6198 Tc 1.2198 Tw ( scanning frequency against) Tj 0 Tc -0.72 Tw ( ) Tj -114.12 -14.04 TD -0.6244 Tc 0.2884 Tw (the fast vertical descent speed \(20) Tj 122.28 0 TD -0.0365 Tc 0 Tw (-) Tj 2.88 0 TD -0.6052 Tc (50m/sec) Tj 30.96 0 TD -0.6153 Tc 0.1953 Tw ( for SELENE) Tj 50.52 0 TD -0.0365 Tc 0 Tw (-) Tj 2.76 0 TD 0.0365 Tc (B) Tj 6.48 0 TD -0.6782 Tc -0.0418 Tw (\). ) Tj ET 1 1 1 rg 87 301.8 204 14.04 re f BT 108.24 305.16 TD 0 0 0 rg -0.4875 Tc 0.0075 Tw (Table 1 ) Tj 30.72 0 TD 0 Tc 0 Tw ( ) Tj 2.16 0 TD ( ) Tj 2.16 0 TD -0.5103 Tc 0.0303 Tw (System Concept of SELENE) Tj 110.16 0 TD -0.0365 Tc 0 Tw (-) Tj 2.88 0 TD 0.0365 Tc (B) Tj 6.6 0 TD 0 Tc ( ) Tj -174.48 -15.48 TD -0.5098 Tc 0.0298 Tw (Launch Weight) Tj 58.8 0 TD 0 Tc 0 Tw ( ) Tj 41.76 0 TD -0.48 Tc (1860 kg) Tj ET q 219.96 287.16 0.36 12 re h W n BT 219.96 289.68 TD 0 Tc ( ) Tj ET Q BT 221.4 289.68 TD /F6 10.56 Tf 0 Tc 0.0192 Tw ( ) Tj 6.48 0 TD /F1 10.56 Tf 0 Tw ( ) Tj ET 87.48 300.6 0.48 1.2 re f 87.48 301.32 0.48 0.48 re f 87.96 301.32 79.44 0.48 re f 167.4 300.6 0.48 0.72 re f 167.4 301.32 0.48 0.48 re f 167.88 301.32 52.44 0.48 re f 220.32 301.32 0.48 0.48 re f 220.8 301.32 53.64 0.48 re f 274.44 300.6 0.48 1.2 re f 274.44 301.32 0.48 0.48 re f 87.48 287.04 0.48 13.56 re f 167.4 287.04 0.48 13.56 re f 274.44 287.04 0.48 13.56 re f BT 88.44 275.4 TD -0.5112 Tc 0.0312 Tw (Landing Weight) Tj 61.8 0 TD 0 Tc 0 Tw ( ) Tj 43.56 0 TD -0.48 Tc (520 kg) Tj ET q 219.96 272.88 0.36 12 re h W n BT 219.96 275.4 TD 0 Tc ( ) Tj ET Q BT 221.4 275.4 TD /F6 10.56 Tf 0 Tc 0.0192 Tw ( ) Tj 6.48 0 TD /F1 10.56 Tf 0 Tw ( ) Tj ET 87.48 286.32 0.48 0.72 re f 87.96 286.56 79.44 0.48 re f 167.4 286.32 0.48 0.72 re f 167.88 286.56 52.44 0.48 re f 220.32 286.56 0.48 0.48 re f 220.8 286.56 53.64 0.48 re f 274.44 286.32 0.48 0.72 re f 87.48 272.76 0.48 13.56 re f 167.4 272.76 0.48 13.56 re f 274.44 272.76 0.48 13.56 re f BT 88.44 261.12 TD -0.5063 Tc (Payload) Tj 30.48 0 TD 0 Tc ( ) Tj 79.68 0 TD -0.48 Tc (50 kg) Tj ET q 219.96 258.6 0.36 12 re h W n BT 219.96 261.12 TD 0 Tc ( ) Tj ET Q BT 221.4 261.12 TD /F6 10.56 Tf 0 Tc 0.0192 Tw ( ) Tj 6.48 0 TD /F1 10.56 Tf 0 Tw ( ) Tj ET 87.48 272.04 0.48 0.72 re f 87.96 272.28 79.44 0.48 re f 167.4 272.04 0.48 0.72 re f 167.88 272.28 52.44 0.48 re f 220.32 272.28 0.48 0.48 re f 220.8 272.28 53.64 0.48 re f 274.44 272.04 0.48 0.72 re f 87.48 258.6 0.48 13.44 re f 167.4 258.6 0.48 13.44 re f 274.44 258.6 0.48 13.44 re f BT 88.44 246.72 TD -0.4907 Tc (Height) Tj 25.8 0 TD 0 Tc ( ) Tj 82.32 0.6 TD -0.48 Tc (2.3 ) Tj 13.92 0 TD /F6 10.56 Tf 0 Tc <828D> Tj ET q 219.96 244.8 0.36 12 re h W n BT 219.96 247.32 TD /F1 10.56 Tf ( ) Tj ET Q BT 221.4 246.72 TD 0.0192 Tw ( ) Tj 6.48 0 TD /F1 10.56 Tf 0 Tw ( ) Tj ET 87.48 257.76 0.48 0.72 re f 87.96 258 79.44 0.48 re f 167.4 257.76 0.48 0.72 re f 167.88 258 52.44 0.48 re f 220.32 258 0.48 0.48 re f 220.8 258 53.64 0.48 re f 274.44 257.76 0.48 0.72 re f 87.48 244.2 0.48 13.56 re f 167.4 244.2 0.48 13.56 re f 274.44 244.2 0.48 13.56 re f BT 88.44 232.44 TD -0.504 Tc (Width) Tj 23.88 0 TD 0 Tc ( ) Tj 84.24 0.48 TD -0.48 Tc (3.7 ) Tj 13.92 0 TD /F6 10.56 Tf 0 Tc <828D> Tj ET q 219.96 230.4 0.36 12 re h W n BT 219.96 232.92 TD /F1 10.56 Tf ( ) Tj ET Q BT 221.4 232.44 TD 0.0192 Tw ( ) Tj 6.48 0 TD /F1 10.56 Tf 0 Tw ( ) Tj ET 87.48 243.48 0.48 0.72 re f 87.96 243.72 79.44 0.48 re f 167.4 243.48 0.48 0.72 re f 167.88 243.72 52.44 0.48 re f 220.32 243.72 0.48 0.48 re f 220.8 243.72 53.64 0.48 re f 274.44 243.48 0.48 0.72 re f 87.48 229.8 0.48 13.68 re f 167.4 229.8 0.48 13.68 re f 274.44 229.8 0.48 13.68 re f BT 88.44 218.04 TD -0.5261 Tc (Length) Tj 26.76 0 TD 0 Tc ( ) Tj 81.36 0.48 TD -0.48 Tc (3.7 ) Tj 13.92 0 TD /F6 10.56 Tf 0 Tc <828D> Tj ET q 219.96 216 0.36 12 re h W n BT 219.96 218.52 TD /F1 10.56 Tf ( ) Tj ET Q BT 221.4 218.04 TD 0.0192 Tw ( ) Tj 6.48 0 TD /F1 10.56 Tf 0 Tw ( ) Tj ET 87.48 229.08 0.48 0.72 re f 87.96 229.32 79.44 0.48 re f 167.4 229.08 0.48 0.72 re f 167.88 229.32 52.44 0.48 re f 220.32 229.32 0.48 0.48 re f 220.8 229.32 53.64 0.48 re f 274.44 229.08 0.48 0.72 re f 87.48 215.4 0.48 13.68 re f 167.4 215.4 0.48 13.68 re f 274.44 215.4 0.48 13.68 re f BT 88.44 203.76 TD -0.5038 Tc 0.0238 Tw (Landing Speed) Tj 57.12 0 TD 0 Tc 0 Tw ( ) Tj 46.2 0 TD -0.523 Tc 0.043 Tw (< 3 m/s) Tj ET q 219.96 201.24 0.36 12 re h W n BT 219.96 203.76 TD 0 Tc 0 Tw ( ) Tj ET Q q 273.96 202.32 0.48 10.56 re h W n BT 273.96 203.76 TD /F6 10.56 Tf 0 Tc 0.0192 Tw ( ) Tj ET Q 87.48 214.68 0.48 0.72 re f 87.96 214.92 79.44 0.48 re f 167.4 214.68 0.48 0.72 re f 167.88 214.92 52.44 0.48 re f 220.32 214.92 0.48 0.48 re f 220.8 214.92 53.64 0.48 re f 274.44 214.68 0.48 0.72 re f 87.48 201.12 0.48 13.56 re f 167.4 201.12 0.48 13.56 re f 274.44 201.12 0.48 13.56 re f BT 88.44 188.04 TD -0.5195 Tc 0.0395 Tw (Landing ) Tj 33.72 0 TD 0 Tc 0 Tw ( ) Tj -33.72 -12.12 TD -0.4901 Tc (Acceler) Tj 29.4 0 TD -0.0086 Tc (a) Tj 4.2 0 TD -0.5078 Tc (tion) Tj 14.4 0 TD 0 Tc ( ) Tj 59.04 0 TD -0.455 Tc -0.025 Tw (< 10G) Tj ET q 219.96 173.4 0.36 12 re h W n BT 219.96 175.92 TD 0 Tc 0 Tw ( ) Tj ET Q q 273.96 174.48 0.48 10.56 re h W n BT 273.96 175.92 TD /F6 10.56 Tf 0 Tc 0.0192 Tw ( ) Tj ET Q 87.48 200.4 0.48 0.72 re f 87.96 200.64 79.44 0.48 re f 167.4 200.4 0.48 0.72 re f 167.88 200.64 52.44 0.48 re f 220.32 200.64 0.48 0.48 re f 220.8 200.64 53.64 0.48 re f 274.44 200.4 0.48 0.72 re f 87.48 173.4 0.48 27 re f 167.4 173.4 0.48 27 re f 274.44 173.4 0.48 27 re f BT 88.44 161.76 TD -0.4953 Tc 0 Tw (Obstacles) Tj 36.6 0 TD 0 Tc ( ) Tj 43.44 0 TD /F6 10.56 Tf 0.0192 Tw ( ) Tj 6.48 0 TD /F1 10.56 Tf 0 Tw ( ) Tj 46.44 0 TD /F6 10.56 Tf 0.0192 Tw ( ) Tj 6.48 0 TD /F1 10.56 Tf 0 Tw ( ) Tj ET 87.48 172.68 0.48 0.72 re f 87.96 172.92 79.44 0.48 re f 167.4 172.68 0.48 0.72 re f 167.88 172.92 52.44 0.48 re f 220.32 172.92 0.48 0.48 re f 220.8 172.92 53.64 0.48 re f 274.44 172.68 0.48 0.72 re f 87.48 159.12 0.48 13.56 re f 167.4 159.12 0.48 13.56 re f 274.44 159.12 0.48 13.56 re f BT 141.72 147.48 TD -0.4939 Tc (Slopes) Tj ET q 166.92 144.96 0.48 12 re h W n BT 166.92 147.48 TD 0 Tc ( ) Tj ET Q BT 186.72 147.48 TD -0.4741 Tc -0.0059 Tw (> 30 deg) Tj ET q 219.96 144.96 0.36 12 re h W n BT 219.96 147.48 TD 0 Tc 0 Tw ( ) Tj ET Q BT 221.4 147.48 TD /F6 10.56 Tf 0 Tc 0.0192 Tw ( ) Tj 6.48 0 TD /F1 10.56 Tf 0 Tw ( ) Tj ET 87.48 158.4 0.48 0.72 re f 87.96 158.64 79.44 0.48 re f 167.4 158.4 0.48 0.72 re f 167.88 158.64 52.44 0.48 re f 220.32 158.64 0.48 0.48 re f 220.8 158.64 53.64 0.48 re f 274.44 158.4 0.48 0.72 re f 87.48 144.84 0.48 13.56 re f 167.4 144.84 0.48 13.56 re f 274.44 144.84 0.48 13.56 re f BT 142.92 132.72 TD -0.48 Tc (Rocks) Tj ET q 166.92 130.2 0.48 12 re h W n BT 166.92 132.72 TD 0 Tc ( ) Tj ET Q BT 178.32 132.72 TD -0.4895 Tc 0.0095 Tw (H > 50cm, W > 1m) Tj 74.4 0 TD 0 Tc 0 Tw ( ) Tj ET 87.48 143.64 0.48 1.2 re f 87.96 144.36 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The difference is not only the number of) Tj 0 Tc -0.72 Tw ( ) Tj 0 -14.04 TD -0.5059 Tc 0.0259 Tw (cameras, but also the applicable situ) Tj 133.92 0 TD -0.0086 Tc 0 Tw (a) Tj 4.2 0 TD -0.5032 Tc (tions.) Tj 20.16 0 TD 0 Tc ( ) Tj -148.32 -14.04 TD -0.6218 Tc 2.4218 Tw (The monocular camera) Tj 0 Tc -0.6 Tw ( ) Tj 94.2 0 TD -0.6324 Tc 2.4324 Tw (system is) Tj 35.76 0 TD -0.6119 Tc 2.4119 Tw ( simple,) Tj 0 Tc -0.6 Tw ( ) Tj 35.4 0 TD -0.621 Tc 0 Tw (lightweight) Tj 41.28 0 TD -0.6 Tc (, ) Tj -216.6 -13.92 TD -0.0086 Tc (a) Tj 4.08 0 TD -0.6224 Tc 0.2624 Tw (nd less system requirements for a spac) Tj 140.4 0 TD -0.0086 Tc 0 Tw (e) Tj 4.08 0 TD -0.6302 Tc 0.1502 Tw (craft. However, the ) Tj -148.56 -14.04 TD -0.6159 Tc 2.6731 Tw (monocular camera usually could get information of the) Tj 0 Tc -0.72 Tw ( ) Tj 0 -14.04 TD -0.6322 Tc 0 Tw (ta) Tj 6.48 0 TD -0.0365 Tc (r) Tj 2.88 0 TD -0.6158 Tc 0.2258 Tw (get landing site as its color and brightness for a point, and ) Tj -9.36 -13.92 TD -0.6195 Tc 1.1128 Tw (a texture as the set of points information, those algorithms) Tj 0 Tc -0.72 Tw ( ) Tj 0 -14.04 TD -0.616 Tc 0.376 Tw (shall estimate th) Tj 58.92 0 TD -0.6216 Tc 0.3216 Tw (e ground physical statuses by some ) Tj 131.88 0 TD -0.0086 Tc 0 Tw (\223) Tj 4.08 0 TD -0.6022 Tc (unde) Tj 18.12 0 TD -0.5165 Tc (r-) Tj -213 -14.04 TD -0.6035 Tc (standing) Tj 30.96 0 TD -0.0086 Tc (\224) Tj 4.08 0 TD -0.6182 Tc 0.0182 Tw ( or ) Tj 11.64 0 TD -0.0086 Tc 0 Tw (\223) Tj 4.08 0 TD (e) Tj 4.08 0 TD -0.0278 Tc (s) Tj 3.48 0 TD -0.6209 Tc (timation) Tj 30.24 0 TD -0.0086 Tc (\224) Tj 4.08 0 TD -0.6177 Tc -0.0543 Tw ( under each prerequisites. Roughly ) Tj -92.64 -13.92 TD -0.6112 Tc 1.6912 Tw (speaking, ) Tj 1.0243 Tc 0 Tw (m) Tj 45.84 0 TD 0 Tc (o) Tj 4.68 0 TD -0.6276 Tc 1.7276 Tw (nocular algorithms might be suitable for the) Tj 0 Tc -0.72 Tw ( ) Tj ET 1 1 1 rg 292.2 476.76 263.16 14.04 re f BT 293.64 480.72 TD 0 0 0 rg /F1 9 Tf 0.03 Tw ( ) Tj ET 1 1 1 rg 292.2 462.84 263.16 13.92 re f BT 293.64 466.68 TD 0 0 0 rg ( ) Tj 1.8 0 TD ( ) Tj ET 1 1 1 rg 292.2 448.8 263.16 14.04 re f BT 293.64 452.76 TD 0 0 0 rg ( ) Tj ET 1 1 1 rg 292.2 434.76 263.16 14.04 re f BT 293.64 438.72 TD 0 0 0 rg ( ) Tj ET 1 1 1 rg 292.2 420.84 263.16 13.92 re f BT 293.64 424.68 TD 0 0 0 rg ( ) Tj ET 1 1 1 rg 292.2 406.8 263.16 14.04 re f BT 293.64 410.76 TD 0 0 0 rg ( ) Tj ET 1 1 1 rg 292.2 392.76 263.16 14.04 re f BT 293.64 396.72 TD 0 0 0 rg ( ) Tj ET 1 1 1 rg 292.2 378.84 263.16 13.92 re f BT 293.64 382.68 TD 0 0 0 rg ( ) Tj ET 1 1 1 rg 292.2 364.8 263.16 14.04 re f BT 293.64 368.76 TD 0 0 0 rg ( ) Tj ET 1 1 1 rg 292.2 350.76 263.16 14.04 re f BT 293.64 354.72 TD 0 0 0 rg ( ) Tj ET 1 1 1 rg 292.2 336.84 263.16 13.92 re f BT 293.64 340.68 TD 0 0 0 rg ( ) Tj ET 1 1 1 rg 292.2 322.8 263.16 14.04 re f BT 293.64 326.76 TD 0 0 0 rg ( ) Tj ET 1 1 1 rg 292.2 308.76 263.16 14.04 re f BT 293.64 312.72 TD 0 0 0 rg ( ) Tj ET 1 1 1 rg 292.2 294.84 263.16 13.92 re f BT 293.64 298.68 TD 0 0 0 rg ( ) Tj ET 1 1 1 rg 292.2 280.8 263.16 14.04 re f BT 293.64 284.76 TD 0 0 0 rg ( ) Tj ET 1 1 1 rg 292.2 266.76 263.16 14.04 re f BT 293.64 270.72 TD 0 0 0 rg ( ) Tj ET 1 1 1 rg 292.2 252.84 263.16 13.92 re f BT 293.64 256.68 TD 0 0 0 rg ( ) Tj ET 1 1 1 rg 292.2 204 263.16 48.84 re f BT 293.64 242.28 TD 0 0 0 rg /F1 10.56 Tf 0 Tw ( ) Tj ET 1 1 1 rg 314.16 189.84 230.52 13.92 re f BT 315.6 193.08 TD 0 0 0 rg -0.5414 Tc -0.4452 Tw (Table 3 Performance of Space Use Stereo Processor Example) Tj 227.64 0 TD 0 Tc 0 Tw ( ) Tj -227.64 -12.12 TD /F4 9 Tf 0.018 Tw ( ) Tj 42 0 TD -0.4851 Tc 0.0231 Tw (H Matrix) Tj 29.4 0 TD 0 Tc 0.018 Tw ( ) Tj -41.76 -10.44 TD -0.4684 Tc 0 Tw (Transfor) Tj 29.76 0 TD -0.4415 Tc (mation) Tj 24.36 0 TD 0 Tc 0.018 Tw ( ) Tj 35.88 10.44 TD -0.4463 Tc 0 Tw (Bias) Tj 15.72 0 TD 0 Tc 0.018 Tw ( ) Tj -18.48 -10.44 TD -0.462 Tc 0 Tw (Cutoff) Tj 21.24 0 TD 0 Tc 0.018 Tw ( ) Tj 24.72 10.44 TD -0.4584 Tc 0 Tw (Gates) Tj ET q 500.16 179.04 6.6 9.96 re h W n BT 500.16 180.96 TD 0 Tc 0.018 Tw ( ) Tj ET Q BT 514.56 180.96 TD -0.468 Tc (Cycle) Tj ET q 534.72 179.04 7.44 9.96 re h W n BT 534.72 180.96 TD 0 Tc 0.018 Tw ( ) Tj ET Q BT 515.64 170.52 TD -0.4695 Tc (Time) Tj 18.12 0 TD 0 Tc 0.018 Tw ( ) Tj ET 310.44 189.36 0.48 0.48 re f 310.44 189.36 0.48 0.48 re f 310.92 189.36 18.6 0.48 re f 329.52 189.36 0.48 0.48 re f 330 189.36 84.6 0.48 re f 414.6 189.36 0.48 0.48 re f 415.08 189.36 56.28 0.48 re f 471.36 189.36 0.48 0.48 re f 471.84 189.36 34.92 0.48 re f 506.76 189.36 0.48 0.48 re f 507.24 189.36 34.92 0.48 re f 542.16 189.36 0.48 0.48 re f 542.16 189.36 0.48 0.48 re f 310.44 168.6 0.48 20.76 re f 329.52 168.6 0.48 20.76 re f 414.6 168.6 0.48 20.76 re f 471.36 168.6 0.48 20.76 re f 506.76 168.6 0.48 20.76 re f 542.16 168.6 0.48 20.76 re f BT 315.6 159.72 TD -0.444 Tc 0 Tw (#1) Tj ET q 324.72 157.8 4.8 9.96 re h W n BT 324.72 159.72 TD 0 Tc 0.018 Tw ( ) Tj ET Q BT 334.8 159.72 TD -0.4548 Tc -0.0072 Tw (Nearest Neighbor) Tj 63.24 0 TD 0 Tc 0.018 Tw ( ) Tj 21.72 0 TD -0.4533 Tc -0.0087 Tw (Edge Filter) Tj 38.52 0 TD 0 Tc 0.018 Tw ( ) Tj 23.64 0 TD -0.457 Tc 0 Tw (90K) Tj 14.64 0 TD 0 Tc 0.018 Tw ( ) Tj 15.36 0 TD -0.439 Tc -0.383 Tw (1.9 sec) Tj ET q 537.48 157.8 4.68 9.96 re h W n BT 537.48 159.72 TD 0 Tc 0.018 Tw ( ) Tj ET Q 310.44 168.12 0.48 0.48 re f 310.92 168.12 18.6 0.48 re f 329.52 168.12 0.48 0.48 re f 330 168.12 84.6 0.48 re f 414.6 168.12 0.48 0.48 re f 415.08 168.12 56.28 0.48 re f 471.36 168.12 0.48 0.48 re f 471.84 168.12 34.92 0.48 re f 506.76 168.12 0.48 0.48 re f 507.24 168.12 34.92 0.48 re f 542.16 168.12 0.48 0.48 re f 310.44 157.8 0.48 10.32 re f 329.52 157.8 0.48 10.32 re f 414.6 157.8 0.48 10.32 re f 471.36 157.8 0.48 10.32 re f 506.76 157.8 0.48 10.32 re f 542.16 157.8 0.48 10.32 re f BT 315.6 148.92 TD -0.444 Tc 0 Tw (#2) Tj ET q 324.72 147 4.8 9.96 re h W n BT 324.72 148.92 TD 0 Tc 0.018 Tw ( ) Tj ET Q BT 334.8 148.92 TD -0.45 Tc -0.012 Tw (4 Points Interpol) Tj 57.36 0 TD 0.036 Tc 0 Tw (a) Tj 4.56 0 TD -0.447 Tc (tion) Tj ET q 409.44 147 5.16 9.96 re h W n BT 409.44 148.92 TD 0 Tc 0.018 Tw ( ) Tj ET Q BT 419.76 148.92 TD -0.4533 Tc -0.0087 Tw (Edge Filter) Tj 38.52 0 TD 0 Tc 0.018 Tw ( ) Tj 21.36 0 TD -0.4538 Tc 0 Tw (130K) Tj ET q 498.84 147 7.92 9.96 re h W n BT 498.84 148.92 TD 0 Tc 0.018 Tw ( ) Tj ET Q BT 511.92 148.92 TD -0.439 Tc -0.383 Tw (2.0 sec) Tj ET q 537.48 147 4.68 9.96 re h W n BT 537.48 148.92 TD 0 Tc 0.018 Tw ( ) Tj ET Q 310.44 157.32 0.48 0.48 re f 310.92 157.32 18.6 0.48 re f 329.52 157.32 0.48 0.48 re f 330 157.32 84.6 0.48 re f 414.6 157.32 0.48 0.48 re f 415.08 157.32 56.28 0.48 re f 471.36 157.32 0.48 0.48 re f 471.84 157.32 34.92 0.48 re f 506.76 157.32 0.48 0.48 re f 507.24 157.32 34.92 0.48 re f 542.16 157.32 0.48 0.48 re f 310.44 146.88 0.48 10.44 re f 329.52 146.88 0.48 10.44 re f 414.6 146.88 0.48 10.44 re f 471.36 146.88 0.48 10.44 re f 506.76 146.88 0.48 10.44 re f 542.16 146.88 0.48 10.44 re f BT 315.6 138 TD -0.444 Tc 0 Tw (#3) Tj ET q 324.72 136.08 4.8 9.96 re h W n BT 324.72 138 TD 0 Tc 0.018 Tw ( ) Tj ET Q BT 334.8 138 TD -0.45 Tc -0.012 Tw (4 Points Interpol) Tj 57.36 0 TD 0.036 Tc 0 Tw (a) Tj 4.56 0 TD -0.447 Tc (tion) Tj ET q 409.44 136.08 5.16 9.96 re h W n BT 409.44 138 TD 0 Tc 0.018 Tw ( ) Tj ET Q BT 419.76 138 TD -0.4689 Tc 0.0069 Tw (LOG Filter &) Tj ET q 464.16 136.08 7.2 9.96 re h W n BT 464.16 138 TD 0 Tc 0.018 Tw ( ) Tj ET Q BT 419.76 127.68 TD -0.4493 Tc -0.0127 Tw (Histogram ) Tj 0 -10.32 TD -0.4444 Tc 0 Tw (Equaliz) Tj 26.28 0 TD 0.036 Tc (a) Tj 4.56 0 TD -0.447 Tc (tion) Tj ET q 463.32 115.44 8.04 9.96 re h W n BT 463.32 117.36 TD 0 Tc 0.018 Tw ( ) Tj ET Q BT 479.64 138 TD -0.4538 Tc (700K) Tj ET q 498.84 136.08 7.92 9.96 re h W n BT 498.84 138 TD 0 Tc 0.018 Tw ( ) Tj ET Q BT 511.92 138 TD -0.439 Tc -0.383 Tw (2.3 sec) Tj ET q 537.48 136.08 4.68 9.96 re h W n BT 537.48 138 TD 0 Tc 0.018 Tw ( ) Tj ET Q 310.44 146.4 0.48 0.48 re f 310.92 146.4 18.6 0.48 re f 329.52 146.4 0.48 0.48 re f 330 146.4 84.6 0.48 re f 414.6 146.4 0.48 0.48 re f 415.08 146.4 56.28 0.48 re f 471.36 146.4 0.48 0.48 re f 471.84 146.4 34.92 0.48 re f 506.76 146.4 0.48 0.48 re f 507.24 146.4 34.92 0.48 re f 542.16 146.4 0.48 0.48 re f 310.44 115.32 0.48 31.08 re f 310.44 114.84 0.48 0.48 re f 310.44 114.84 0.48 0.48 re f 310.92 114.84 18.6 0.48 re f 329.52 115.32 0.48 31.08 re f 329.52 114.84 0.48 0.48 re f 330 114.84 84.6 0.48 re f 414.6 115.32 0.48 31.08 re f 414.6 114.84 0.48 0.48 re f 415.08 114.84 56.28 0.48 re f 471.36 115.32 0.48 31.08 re f 471.36 114.84 0.48 0.48 re f 471.84 114.84 34.92 0.48 re f 506.76 115.32 0.48 31.08 re f 506.76 114.84 0.48 0.48 re f 507.24 114.84 34.92 0.48 re f 542.16 115.32 0.48 31.08 re f 542.16 114.84 0.48 0.48 re f 542.16 114.84 0.48 0.48 re f 1 1 1 rg 314.16 104.52 230.52 10.32 re f BT 315.6 106.68 TD 0 0 0 rg /F1 8.04 Tf 0 Tc -0.45 Tw ( ) Tj 4.68 0 TD /F1 9 Tf 0.03 Tw ( ) Tj 1.8 0 TD ( ) Tj ET 1 1 1 rg 314.16 84.72 230.52 19.8 re f BT 340.8 96.24 TD 0 0 0 rg ( ) Tj ET 1 1 1 rg 78.96 161.76 200.16 14.04 re f BT 80.4 165.12 TD 0 0 0 rg /F1 10.56 Tf -0.4875 Tc 0.0075 Tw (Table 2 ) Tj 35.04 0 TD -0.4891 Tc 0 Tw (Real) Tj 17.4 0 TD -0.0365 Tc (-) Tj 2.88 0 TD -0.5839 Tc (time) Tj 16.56 0 TD -0.4902 Tc 0.0102 Tw ( Stereo Processing f) Tj 74.4 0 TD -0.4835 Tc 0.0035 Tw (or Space Use ) Tj ET q 285.24 162.6 6.72 12 re h W n BT 285.24 165.12 TD 0 Tc 0 Tw ( ) Tj ET Q BT 159.6 152.88 TD /F4 9 Tf -0.368 Tc 0 Tw (Weight) Tj ET q 185.4 150.96 4.8 9.96 re h W n BT 185.4 152.88 TD 0 Tc 0.018 Tw ( ) Tj ET Q BT 223.68 152.88 TD -0.4428 Tc -0.0192 Tw (3.8 kg) Tj 21.84 0 TD 0 Tc 0.018 Tw ( ) Tj ET 75.24 161.28 0.48 0.48 re f 75.24 161.28 0.48 0.48 re f 75.72 161.28 114.48 0.48 re f 190.2 161.28 0.48 0.48 re f 190.68 161.28 87.96 0.48 re f 278.64 161.28 0.48 0.48 re f 278.64 161.28 0.48 0.48 re f 75.24 150.96 0.48 10.32 re f 190.2 150.96 0.48 10.32 re f 278.64 150.96 0.48 10.32 re f BT 162.36 142.08 TD -0.4932 Tc 0 Tw (Power) Tj ET q 185.4 140.16 4.8 9.96 re h W n BT 185.4 142.08 TD 0 Tc 0.018 Tw ( ) Tj ET Q BT 224.76 142.08 TD -0.448 Tc -0.014 Tw (36 W) Tj 19.68 0 TD 0 Tc 0.018 Tw ( ) Tj ET 75.24 150.48 0.48 0.48 re f 75.72 150.48 114.48 0.48 re f 190.2 150.48 0.48 0.48 re f 190.68 150.48 87.96 0.48 re f 278.64 150.48 0.48 0.48 re f 75.24 140.16 0.48 10.32 re f 190.2 140.16 0.48 10.32 re f 278.64 140.16 0.48 10.32 re f BT 169.8 131.16 TD -0.5063 Tc 0 Tw (Size) Tj ET q 185.4 129.24 4.8 9.96 re h W n BT 185.4 131.16 TD 0 Tc 0.018 Tw ( ) Tj ET Q BT 200.4 131.16 TD -0.4755 Tc 0.0135 Tw (280 x 240 x 80 mm) Tj 68.52 0 TD 0 Tc 0.018 Tw ( ) Tj ET 75.24 139.56 0.48 0.48 re f 75.72 139.56 114.48 0.48 re f 190.2 139.56 0.48 0.48 re f 190.68 139.56 87.96 0.48 re f 278.64 139.56 0.48 0.48 re f 75.24 129.24 0.48 10.32 re f 190.2 129.24 0.48 10.32 re f 278.64 129.24 0.48 10.32 re f BT 80.4 120.36 TD -0.4513 Tc -0.4907 Tw (Stereo Processing Fr) Tj 74.52 0 TD 0.036 Tc 0 Tw (e) Tj 4.56 0 TD -0.496 Tc (quency) Tj ET q 185.4 118.44 4.8 9.96 re h W n BT 185.4 120.36 TD 0 Tc 0.018 Tw ( ) Tj ET Q BT 213.12 120.36 TD -0.45 Tc -0.012 Tw (0.5 ) Tj 13.2 0 TD 0.003 Tc 0 Tw (-) Tj 2.52 0 TD -0.4776 Tc 0.0156 Tw ( 0.4 Hz) Tj 27.24 0 TD 0 Tc 0.018 Tw ( ) Tj ET 75.24 128.76 0.48 0.48 re f 75.72 128.76 114.48 0.48 re f 190.2 128.76 0.48 0.48 re f 190.68 128.76 87.96 0.48 re f 278.64 128.76 0.48 0.48 re f 75.24 118.44 0.48 10.32 re f 75.24 117.96 0.48 0.48 re f 75.24 117.96 0.48 0.48 re f 75.72 117.96 114.48 0.48 re f 190.2 118.44 0.48 10.32 re f 190.2 117.96 0.48 0.48 re f 190.68 117.96 87.96 0.48 re f 278.64 118.44 0.48 10.32 re f 278.64 117.96 0.48 0.48 re f 278.64 117.96 0.48 0.48 re f 1 1 1 rg 78.96 103.92 200.16 13.92 re f BT 80.4 107.76 TD 0 0 0 rg /F3 9 Tf 4.14 Tw ( ) Tj ET q 287.76 105.6 4.2 10.2 re h W n BT 287.76 107.76 TD /F1 9 Tf 0.03 Tw ( ) Tj ET Q 1 1 1 rg 78.96 83.52 200.16 20.4 re f BT 80.4 93.96 TD 0 0 0 rg /F1 9 Tf 0.03 Tw ( ) Tj 364.56 383.04 TD /F4 9 Tf -0.4497 Tc -0.0123 Tw (Right Image) Tj ET q 488.52 475.08 5.28 9.96 re h W n BT 488.52 477 TD 0 Tc 0.018 Tw ( ) Tj ET Q BT 440.4 427.92 TD -0.4971 Tc 0.0351 Tw (H Matrix Trans.) Tj ET q 494.52 426 1.68 9.96 re h W n BT 494.52 427.92 TD 0 Tc 0.018 Tw ( ) Tj ET Q q 445.44 451.92 42.96 9.48 re h W n BT 445.44 453.36 TD -0.4467 Tc -0.0153 Tw (Image Input) Tj ET Q q 488.04 451.92 5.16 9.48 re h W n BT 488.04 453.36 TD 0 Tc 0.018 Tw ( ) Tj ET Q BT 443.52 404.04 TD -0.4827 Tc 0.0207 Tw (DPF Extract.) Tj ET q 488.76 402.12 6.12 9.96 re h W n BT 488.76 404.04 TD 0 Tc 0.018 Tw ( ) Tj ET Q BT 447.24 379.44 TD -0.4557 Tc -0.0063 Tw (Bias Cutoff) Tj ET q 486.24 377.52 5.16 9.96 re h W n BT 486.24 379.44 TD 0 Tc 0.018 Tw ( ) Tj ET Q BT 390 245.04 TD -0.4551 Tc -0.0069 Tw (Disparity Image) Tj ET q 445.68 243.12 3.6 9.96 re h W n BT 445.68 245.04 TD 0 Tc 0.018 Tw ( ) Tj ET Q q 399.6 235.44 36.48 7.32 re h W n BT 399.6 234.72 TD -0.4524 Tc 0 Tw (\(Distance\)) Tj ET Q q 436.08 235.44 8.16 7.32 re h W n BT 436.08 234.72 TD 0 Tc 0.018 Tw ( ) Tj ET Q BT 337.44 354 TD -0.4534 Tc -0.2486 Tw (Matching Calculation \(Difference Processing\)) Tj 16.68 -24.6 TD -0.4892 Tc -0.0261 Tw ( Smoothing Filter) Tj -1.077 Tc 0.015 Tw ( \() Tj 77.4 0 TD /F5 9 Tf -0.048 Tc 0 Tw (S) Tj 4.92 0 TD /F4 9 Tf -0.5777 Tc -0.4843 Tw ( Operation) Tj 35.76 0 TD /F6 9 Tf 0 Tc 0.015 Tw ( ) Tj ET q 477.6 327.48 2.4 9.96 re h W n BT 477.6 329.4 TD /F4 9 Tf -0.597 Tc 0.135 Tw (\) ) Tj ET Q BT 375.36 303.84 TD /F4 9 Tf -0.4841 Tc 0.0221 Tw (Maximum Dete) Tj 54.72 0 TD 0.06 Tc 0 Tw (c) Tj 4.08 0 TD -0.447 Tc -0.015 Tw (tion ) Tj ET q 450.96 301.92 1.8 9.96 re h W n BT 450.96 303.84 TD 0 Tc 0.018 Tw ( ) Tj ET Q BT 370.2 279 TD -0.4878 Tc -0.4542 Tw (3 Neighbor Interpol) Tj 66.36 0 TD 0.036 Tc 0 Tw (a) Tj ET q 441 277.08 16.08 9.96 re h W n BT 441 279 TD -0.5616 Tc 0.0996 Tw (tions ) Tj ET Q BT 337.44 477 TD -0.447 Tc -0.015 Tw (Left Image) Tj ET q 375.48 475.08 4.68 9.96 re h W n BT 375.48 477 TD 0 Tc 0.018 Tw ( ) Tj ET Q BT 334.8 453.84 TD -0.4467 Tc -0.0153 Tw (Image Input) Tj ET q 377.4 451.92 5.28 9.96 re h W n BT 377.4 453.84 TD 0 Tc 0.018 Tw ( ) Tj ET Q q 318 402.12 72.24 9.36 re h W n BT 318 403.44 TD -0.4631 Tc 0.0011 Tw (Base Image Extract.) 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Each algorithm) Tj 0 Tc -0.84 Tw ( ) Tj -144.72 -14.04 TD -0.6191 Tc 2.0762 Tw (will identify obstacles based on different information, and) Tj 0 Tc -0.72 Tw ( ) Tj 0 -13.92 TD -0.5075 Tc 0 Tw (effectible) Tj 34.8 0 TD -0.5089 Tc 0.0289 Tw ( in different situ) Tj 58.68 0 TD -0.0086 Tc 0 Tw (a) Tj 4.2 0 TD -0.5023 Tc 0.0223 Tw (tion. ) Tj 18.72 0 TD 0 Tc 0 Tw ( ) Tj -106.56 -14.04 TD -0.6086 Tc 0.0086 Tw ( \223) Tj 6.12 0 TD -0.6149 Tc 0.8549 Tw (Topography from brightness) Tj 106.56 0 TD -0.0086 Tc 0 Tw (\224) Tj 4.08 0 TD -0.6159 Tc 0.8559 Tw ( method could work even) Tj 0 Tc -0.6 Tw ( ) Tj -126.6 -14.04 TD -0.6322 Tc -0.0878 Tw (from ) Tj 20.28 0 TD -0.615 Tc 0.219 Tw (high altitude, but might be hard to identify the obstacles ) Tj -20.28 -13.92 TD -0.6166 Tc 0.2566 Tw (itself and obstacles exact pos) Tj 105.12 0 TD -0.0557 Tc 0 Tw (i) Tj 2.28 0 TD -0.6143 Tc 0.1943 Tw (tion until final landing. ) Tj 85.08 0 TD -0.0086 Tc 0 Tw (\223) Tj 4.08 0 TD -0.6017 Tc (Shade) Tj 22.68 0 TD -0.0086 Tc (\224) Tj 3.96 0 TD 0 Tc ( ) Tj -223.2 -14.04 TD -0.6124 Tc 1.4644 Tw (method could work for wide range of high altitude to low) Tj 0 Tc -0.72 Tw ( ) Tj 0 -14.04 TD -0.56 Tc 0 Tw (alt) Tj 8.76 0 TD -0.0557 Tc (i) Tj 2.4 0 TD -0.6217 Tc 1.5817 Tw (tude, could identify small obstacles from higher altitude) Tj 0 Tc -0.72 Tw ( ) Tj -11.16 -13.92 TD -0.6427 Tc 0.2227 Tw (than other me) Tj 50.28 0 TD -0.0557 Tc 0 Tw (t) Tj 2.28 0 TD 0 Tc (h) Tj 4.68 0 TD -0.6212 Tc 0.1112 Tw (ods, but could not recognize the inclination of ) Tj -57.24 -14.04 TD -0.6049 Tc 1.3249 Tw (the ground slope.) Tj 0 Tc -0.6 Tw ( ) Tj 68.76 0 TD -0.0086 Tc 0 Tw (\223) Tj 4.08 0 TD -0.6017 Tc (Shade) Tj 22.8 0 TD -0.0086 Tc (\224) Tj 4.08 0 TD -0.6207 Tc 1.3707 Tw ( method essentially assumes that) Tj 0 Tc -0.72 Tw ( ) Tj -99.72 -14.04 TD -0.62 Tc 0.18 Tw (the slope inclination will be measured by other method. ) Tj 204.6 0 TD -0.0086 Tc 0 Tw (\223) Tj 4.08 0 TD -0.5635 Tc (St) Tj 7.56 0 TD -0.5026 Tc (e-) Tj -216.24 -13.92 TD -0.6308 Tc 1.5908 Tw (reo measurement) Tj 64.56 0 TD -0.0086 Tc 0 Tw (\224) Tj 4.08 0 TD -0.6212 Tc 1.4912 Tw ( could identify the obst) Tj 88.44 0 TD -0.0086 Tc 0 Tw (a) Tj 4.08 0 TD -0.6288 Tc 1.4688 Tw (cles as the exact) Tj 0 Tc -0.72 Tw ( ) Tj -161.16 -14.04 TD -0.6169 Tc 0.4009 Tw (shape, height and width, but ) Tj 106.32 0 TD -0.6327 Tc 0.5427 Tw (could not measure the obstacles) Tj 0 Tc -0.72 Tw ( ) Tj -106.32 -14.04 TD -0.6245 Tc 0.4145 Tw (from high altitude. For SELENE) Tj 120.96 0 TD -0.0365 Tc 0 Tw (-) Tj 2.88 0 TD -0.6264 Tc 0.2904 Tw (B, because of the 3m ) Tj 80.28 0 TD -0.6122 Tc 0 Tw (bas) Tj 12.24 0 TD -0.5026 Tc (e-) Tj -216.36 -13.92 TD -0.6056 Tc (lines) Tj 16.92 0 TD -0.6379 Tc 0.6646 Tw ( limitation and required FOV, around 150m may be the) Tj 0 Tc -0.72 Tw ( ) Tj -16.92 -14.04 TD -0.5085 Tc 0.0285 Tw (highest altitude for stereo measur) Tj 123.6 0 TD -0.0086 Tc 0 Tw (e) Tj 4.2 0 TD -0.528 Tc 0.048 Tw (ment. ) Tj 23.28 0 TD 0 Tc 0 Tw ( ) Tj -141.24 -14.04 TD -0.6 Tc ( Thus) Tj -0.6164 Tc 0.7604 Tw ( no solo algorithm might be able to solve the obst) Tj 206.4 0 TD -0.5026 Tc 0 Tw (a-) Tj -216.24 -13.92 TD -0.6158 Tc 1.9358 Tw (cles detecti) Tj 41.76 0 TD -0.6222 Tc 1.9422 Tw (on requests for SELENE) Tj 97.08 0 TD -0.0365 Tc 0 Tw (-) Tj 2.76 0 TD -0.6288 Tc 1.9488 Tw (B safe moon landing) Tj 0 Tc -0.72 Tw ( ) Tj -141.6 -14.04 TD -0.5975 Tc 1.9175 Tw (with high rel) Tj 49.92 0 TD -0.0557 Tc 0 Tw (i) Tj 2.28 0 TD -0.6194 Tc 1.9994 Tw (ability. Every method) Tj 0 Tc -0.6 Tw ( ) Tj 86.76 0 TD -0.616 Tc 1.936 Tw (has a weak and forte.) Tj 0 Tc -0.6 Tw ( ) Tj -138.96 -14.04 TD -0.6066 Tc 1.4466 Tw (Thus a new complex and hybrid algorithm) Tj 0 Tc -0.6 Tw ( ) Tj 168 0 TD -0.6267 Tc 1.4667 Tw (shall be deve) Tj 50.16 0 TD -0.5261 Tc 0 Tw (l-) Tj -218.16 -13.92 TD -0.6022 Tc (oped) Tj 18.12 0 TD -0.6326 Tc 1.7392 Tw (, that aims more robust and more reliable by running) Tj 0 Tc -0.72 Tw ( ) Tj -18.12 -14.04 TD -0.5105 Tc 0.0305 Tw (different algorithms in para) Tj 101.64 0 TD -0.0557 Tc 0 Tw (l) Tj 2.4 0 TD -0.51 Tc 0.03 Tw (lel. ) Tj 13.32 0 TD 0 Tc 0 Tw ( ) Tj -107.52 -14.04 TD -0.6093 Tc 0.0093 Tw (For ) Tj 15.96 0 TD -0.6091 Tc 0.0091 Tw (such ) Tj 20.04 0 TD -0.6163 Tc 1.2163 Tw (hybrid method,) Tj 0 Tc -0.6 Tw ( ) Tj 60.24 0 TD -0.6224 Tc 1.2224 Tw (the stereo) Tj 35.76 0 TD -0.6148 Tc 1.1248 Tw ( method could be ) Tj 0.4714 Tc 0 Tw (e) Tj 73.8 0 TD -0.4982 Tc (x-) Tj -215.64 -13.92 TD -0.6172 Tc 0.1372 Tw (pected to ) Tj 35.4 0 TD -0.6181 Tc 0.1981 Tw (estimate the slope inclination ) Tj 108 0 TD -0.6426 Tc 0.2226 Tw (and identify the shape ) Tj -143.4 -14.04 TD -0.6142 Tc 1.8142 Tw (of obstacles exactly at relatively low altitude.) Tj 0 Tc -0.6 Tw ( ) Tj 176.88 0 TD -0.6554 Tc 1.9154 Tw (For the ) Tj 1.2643 Tc 0 Tw (m) Tj 38.88 0 TD -0.4982 Tc (o-) Tj -215.76 -14.04 TD -0.6184 Tc 0.8584 Tw (nocular algorithms, it could) Tj 0 Tc -0.6 Tw ( ) Tj 104.88 0 TD -0.6229 Tc 0.8629 Tw (be expected to) Tj 0 Tc -0.6 Tw ( ) Tj 56.88 0 TD -0.6304 Tc 0.8704 Tw (roughly est) Tj 41.28 0 TD -0.0557 Tc 0 Tw (i) Tj 2.4 0 TD -0.6922 Tc -0.0278 Tw (mate ) Tj -205.44 -13.92 TD -0.6202 Tc 2.5402 Tw (the geographical trend even) Tj 0 Tc -0.6 Tw ( ) Tj 112.44 0 TD -0.619 Tc 2.539 Tw (from high altitude) Tj 70.2 0 TD -0.6 Tc 0 Tw (. ) Tj 6.48 0 TD -0.6435 Tc 2.5635 Tw (Thus the) Tj 0 Tc -0.72 Tw ( ) Tj -189.12 -14.04 TD -0.6121 Tc 1.4721 Tw (combination of the stereo and monocular ) Tj 0.8314 Tc 0 Tw (a) Tj 164.52 0 TD -0.0557 Tc (l) Tj 2.28 0 TD -0.6227 Tc 1.4627 Tw (gorithms could) Tj 0 Tc -0.72 Tw ( ) Tj -166.8 -14.04 TD -0.6174 Tc 1.4917 Tw (be used for more wide range of altitude) Tj 152.64 0 TD -0.6304 Tc 1.5104 Tw (, for more detailed) Tj 0 Tc -0.72 Tw ( ) Tj -152.64 -13.92 TD -0.5061 Tc 0.0261 Tw (obstacles identific) Tj 66.96 0 TD -0.0086 Tc 0 Tw (a) Tj 4.2 0 TD -0.5023 Tc 0.0223 Tw (tion, ) Tj 18.72 0 TD -0.5071 Tc 0.0271 Tw (and is more robust.) Tj 71.4 0 TD 0 Tc 0 Tw ( ) Tj -151.44 -14.04 TD -0.6165 Tc 1.0965 Tw (Fig. 12 shows the) Tj 67.32 0 TD -0.6243 Tc 1.1043 Tw ( result example of such hybrid) Tj 0 Tc -0.6 Tw ( ) Tj 118.2 0 TD -0.64 Tc 0.04 Tw (method ) Tj ET 1 1 1 rg 82.32 106.32 192.48 196.08 re f q 189.6 0 0 -189.6 83.76 299.16 cm /im13 Do endstream endobj 96 0 obj 12182 endobj 97 0 obj << /Type /XObject /Subtype /Image /Name /im13 /Filter /DCTDecode /Width 253 /Height 253 /BitsPerComponent 8 /ColorSpace /DeviceRGB /Length 98 0 R >> stream AdobedC    !"(($#$% '+++,.3332-3333333333  a!1AQa"q2B#$Rb34rC%Scs5&DTdE£t6UeuF'Vfv7GWgw(8HXhx )9IYiy *:JZjz ?5kK\Z+ǭ46kGGeccEhkYX֏ "Yk-q-x7>*BYk-q-x8FAMnMcY}S\\)a#@'!dэnEUSK$Ym_ nxQ[YSpU^Er1wN.CmlW3GR_^z]_.&MW]nc{2:D8kie%ng=ŭqe25 Z?۫_?]CgtMom  Zyt]S>&]{ ɹ0@$9ҿr^Νmx?&Y`2&㮫OMöDe%hfc .T<k>m_XG?PsD^;e}Zjĸ4,t`JQnӒ5өzKz}Y;Vr [wetV[ns]V1n添ޝ]ga S{,p-:^z*ijA.{ָ:佲c[.h%nDv!I{H3Z&t6YK@?9T˾ZơC:YX}o7D*o7#ϰd34q#sʳZ2 HǷsZ|KdJ##[v`~[TulŬ!5[6:`|;g?_VѺP ׉_Ccm,cԀ8%G#1s2~sƬƒK{S X Iǖ8u/mVMo!0=܏8VJe: ~[YavIޛo;լ]IUE#Ymvѿ&͛Z$:Hzv}t^MVonִ{t5v^i'kCAyN䙒z@Ρ;sMp3d΁CNv-6Z&gɟKЏ0~X8!Ē7:O'N?ַwacZ I#s|t^7rtexxxN5/']\Ap:t=CׯtޏӾc]Ԭpdel;/_[("\ֹ<[m394i`CO|W5.2rN[\V=r9.h !Ky@wn ቌY{ZF2|S~fbd[ҲUo.(&牏kL&W1mOѵ j< Y}gOUDJ豮F=WVlC#2ۘYEv=iCy^ŕCl[s (Ƕ-1o<+ۉ{Λw1bt om&ȏ> F,c`t|L< M"";b]5jgzmf@/kk baK;,<|~i8nqddV@ka?y⺜R^_mmh"FOu}WdF/,f{Okğ%ocA,#nGzdkFH KAO?/ GPŴzA=iΟr>}y=>>:Kr#/6&8ҷg[c'WzEmmu[A.N|UL1zMov=خﴃ$D<]9߫m8Yjk/ N=^ctxMu mv]B/F}Y۸XDO+WUֺ}abK9#e#~ٸtun~.CʲsӣpWɎ]Lv1餁oJ`h:qioŲ ]mŢLDy՟ڟUUvWVq5veҰjn6VKz\R{Y ?1:IוSլq?Wk1` 5NuzKT3:^'J/ MlcVuX*"WDju>B 63Ξak_ҺnF/nŦ}?D[B%{KˋC^Hӏ>H' ㅃVdc* vj- qd)Pyɇ`'ikuG-4p5G8 0~K:OD?XY9_O@ XCpC5]H{nͲO2&VXhciyZk,t4ftbXkFpI"dw4` IG0YWY4W[XsiߵDJ_Q>eB!7dW21fAZ5I !'UGU}rbksC2.tLH?̿,Mmﶼ :VRNJ-Qut>i> =c2AaXGR بo֎Yn#xV## Ϸ;ZX*^^0˧˚+hi- b?ۏ[g^}Ul,ZCH kt0}oݽ.ӱFֽ4 w8ߵw@oMsMnɡk Ditr>shRӺUe- @+&o}VܟUOέm3$Q@;Gs>l6Y+=>62TǑ/ IyC7Xh|LX}@$#YƄ/SW=w9\'eT9Vjczc76ֺ5 7? 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For the )Tj ET 1 1 1 rg 69.6 105.84 237.72 195.96 re f q 226.8 0 0 -184.92 71.04 296.28 cm /Im0 Do Q 0 0 0 rg BT /TT1 10.56 Tf 0 Tc 0 Tw 297.84 111.36 Td ( )Tj ET 1 1 1 rg 69.6 91.8 237.72 14.04 re f 0 0 0 rg BT /TT1 10.56 Tf -0.5119 Tc 0.0319 Tw 90.84 95.28 Td (Fig. 1 SELENE)Tj -0.0365 Tc 0 Tw 62.16 0 Td (-)Tj -0.5142 Tc 0.0342 Tw 2.88 0 Td (B: Concept of Moon La)Tj 0 Tc 0 Tw 90.48 0 Td (n)Tj -0.495 Tc 4.8 0 Td (der)Tj 0 Tc 12 0 Td ( )Tj ET /Artifact <>BDC 1 0 0 1 -0.9805 35.8714 cm /CS2 cs 1 1 1 scn /CS2 CS 0 0 0 SCN 0.72 w 10 M 0 j 1 J []0 d /RelativeColorimetric ri /GS0 gs 85.08 761.12 426 27.78 re B* 1 0 0 1 0.9805 -35.8714 cm 0 0 0 scn BT /TT3 1 Tf 0.0014 Tc 0.0019 Tw 9 0 0 9 100.4795 812.3517 Tm (P)Tj 9 0 0 9 105.4601 812.3517 Tm (r)Tj 9 0 0 9 108.4608 812.3517 Tm (oceeding of the 7)Tj 0.0022 Tc 0 Tw 6 0 0 6 170.9195 816.3717 Tm (th)Tj 0.001 Tc 0.0023 Tw 9 0 0 9 175.5995 812.3517 Tm ( International Sy)Tj 9 0 0 9 235.8971 812.3517 Tm (m)Tj 9 0 0 9 242.8541 812.3517 Tm (posium)Tj 9 0 0 9 269.3595 812.3517 Tm ( on Artificial Inte)Tj 0.0022 Tw 9 0 0 9 332.3183 812.3517 Tm (lligence, Robotics and Autom)Tj 9 0 0 9 440.0734 812.3517 Tm (a)Tj 9 0 0 9 444.0964 812.3517 Tm (tion in Space: )Tj -0.0003 Tc 0.0036 Tw 9 0 0 9 207.2183 801.792 Tm (i-SAIRAS 2003)Tj 0 Tc 0 Tw 9 0 0 9 264.9395 801.7917 Tm (,)Tj -0.0016 Tc 0.0049 Tw 9 0 0 9 267.2195 801.7917 Tm ( NARA)Tj 0 Tc 0 Tw 9 0 0 9 294.9395 801.7917 Tm (,)Tj -0.0025 Tc 0.0058 Tw 9 0 0 9 297.2195 801.7917 Tm ( Ja)Tj 0 Tc 0 Tw 9 0 0 9 306.9995 801.7917 Tm (p)Tj 0.0028 Tc 9 0 0 9 311.4995 801.7917 Tm (an)Tj 0 Tc 9 0 0 9 320.0195 801.7917 Tm (,)Tj -0.0025 Tc 0.0058 Tw 9 0 0 9 322.2995 801.7917 Tm ( Ma)Tj 0 Tc 0 Tw 9 0 0 9 336.5795 801.7917 Tm (y)Tj 0.0006 Tc 0.0027 Tw 9 0 0 9 341.1995 801.7917 Tm ( 19-23)Tj 0 Tc 0 Tw 9 0 0 9 364.4795 801.7917 Tm (,)Tj 0.0006 Tc 0.0026 Tw 9 0 0 9 366.7595 801.7917 Tm ( 2003)Tj /TT4 1 Tf 0 Tc 0 Tw 10.5 0 0 10.5 387.0395 801.7917 Tm ( )Tj ET EMC endstream endobj 122 0 obj 11771 endobj 123 0 obj << /Type /Metadata /Subtype /XML /Length 1336 >> stream iSAIRAS2003_7.doc - Microsoft Word 2003-03-24T11:38:15Z iSAIRAS2003_7.PDF matumoto Acrobat PDFWriter 4.05 Windows NT 2003-04-28T15:27:57+09:00 2003-03-24T11:38:15Z iSAIRAS2003_7.PDF matumoto 2003-04-28T15:27:57+09:00 2003-04-28T15:27:57+09:00 iSAIRAS2003_7.PDF matumoto endstream endobj xref 0 124 0000000010 65535 f 0000000016 00000 n 0000000246 00000 n 0000000294 00000 n 0000000368 00000 n 0000000689 00000 n 0000000805 00000 n 0000001904 00000 n 0000002192 00000 n 0000003280 00000 n 0000000011 00001 f 0000000016 00001 f 0000003558 00000 n 0000004653 00000 n 0000004940 00000 n 0000025394 00000 n 0000000017 00001 f 0000000000 00001 f 0000025417 00000 n 0000025662 00000 n 0000034137 00000 n 0000034159 00000 n 0000034311 00000 n 0000034642 00000 n 0000074783 00000 n 0000074806 00000 n 0000085006 00000 n 0000085029 00000 n 0000085523 00000 n 0000085544 00000 n 0000098427 00000 n 0000098450 00000 n 0000098557 00000 n 0000098577 00000 n 0000104659 00000 n 0000104681 00000 n 0000104787 00000 n 0000104807 00000 n 0000105643 00000 n 0000136621 00000 n 0000136644 00000 n 0000136751 00000 n 0000136771 00000 n 0000136792 00000 n 0000137889 00000 n 0000138159 00000 n 0000139235 00000 n 0000139510 00000 n 0000141442 00000 n 0000141464 00000 n 0000141528 00000 n 0000141735 00000 n 0000163211 00000 n 0000163234 00000 n 0000163395 00000 n 0000163732 00000 n 0000191665 00000 n 0000191688 00000 n 0000192789 00000 n 0000193069 00000 n 0000193941 00000 n 0000193962 00000 n 0000194078 00000 n 0000222923 00000 n 0000222946 00000 n 0000223052 00000 n 0000223237 00000 n 0000236291 00000 n 0000236314 00000 n 0000256775 00000 n 0000256798 00000 n 0000260685 00000 n 0000260707 00000 n 0000261936 00000 n 0000262208 00000 n 0000262432 00000 n 0000267800 00000 n 0000267822 00000 n 0000278282 00000 n 0000278305 00000 n 0000340119 00000 n 0000340142 00000 n 0000340627 00000 n 0000340648 00000 n 0000410016 00000 n 0000410039 00000 n 0000410632 00000 n 0000410653 00000 n 0000482624 00000 n 0000482647 00000 n 0000483238 00000 n 0000483259 00000 n 0000483754 00000 n 0000483775 00000 n 0000483973 00000 n 0000484064 00000 n 0000496302 00000 n 0000496325 00000 n 0000566720 00000 n 0000566743 00000 n 0000624447 00000 n 0000624471 00000 n 0000625055 00000 n 0000625077 00000 n 0000625527 00000 n 0000625549 00000 n 0000625698 00000 n 0000647358 00000 n 0000647382 00000 n 0000647631 00000 n 0000648532 00000 n 0000648632 00000 n 0000648839 00000 n 0000648868 00000 n 0000648898 00000 n 0000648939 00000 n 0000651617 00000 n 0000651696 00000 n 0000652133 00000 n 0000652322 00000 n 0000652499 00000 n 0000652681 00000 n 0000664510 00000 n 0000664534 00000 n trailer << /Size 124 /Info 1 0 R /Root 3 0 R /ID[<0ed4f878a0f5e0f476a796b24ea6c118>] >> startxref 665956 %%EOF