飞控与探测2026，Vol.9Issue(2)：82-94,13.DOI:10.20249/j.cnki.2096-5974.2026.02.009
类月表面岩石障碍感知与测距
Optimizing Perception and Ranging of Rock Obstacles on Lunar-Like Surfaces
摘要
Abstract
In the context of long-distance exploration missions of lunar rovers facing harsh environ-ments and threats posed by rock obstacles,this paper addresses the real-time obstacle avoidance problem.It involves the collection of ground-like lunar surface environmental data,manual screen-ing,and labeling of image data using an embedded Segment Anything Model(SAM)tagging tool to construct a dataset of lunar-like surface rock image obstacles.Building upon this dataset,a method of fusing information from laser radar and monocular images for target perception is pro-posed.The YOLOv5 object detection network with embedded attention mechanisms operates on this dataset to generate a model for identifying lunar surface rock obstacles.Simultaneously,the laser radar collects environmental point cloud data and,following slicing,noise filtering,segmen-tation,and using the Random Sample Consensus(RANSAC)algorithm,produces point cloud ob-stacle data within the Point Cloud Library(PCL).By fusing the generated image obstacle data with the point cloud obstacle data,accurate obstacle information is determined,and distance data is extracted from the point cloud data.This approach enhances the accuracy and reliability of the lunar rover's environmental perception system,laying a robust foundation for real-time obstacle a-voidance.关键词
月面巡视器/万物可分割大模型/类月表面数据集/点云库/随机采样一致性Key words
lunar rover/segment anything model/lunar-like surface dataset/point cloud library/random sample consensus分类
信息技术与安全科学引用本文复制引用
雷裕杰,贺亮,胡涛,曹涛,郑博,黄萌..类月表面岩石障碍感知与测距[J].飞控与探测,2026,9(2):82-94,13.基金项目
上海航天科技创新基金(SAST2022-084) （SAST2022-084）
