关键词: 地外探测, 表面巡视探测, 无人系统, 感知, 操控, 数据集, 多源

Abstract: The future extraterrestrial exploration has shown a broad application prospect of artificial intelligence. The detector can actively perceive and understand the environment, find high value targets, make reliable reasoning and effective decisions, and realize the mission objectives through high precision navigation and manipulation. The surface scene of extraterrestrial objects is complex and unknown, and the physical and chemical characteristics such as topography and geology are hard to be measured directly or be determined. The research on intelligent perception and manipulation for extraterrestrial object surface exploration lacks effective training and testing data set. This paper introduces the a multi source dataset TianQu1.0 for intelligent precise perception and manipulation of extraterrestrial object surface, which is established by the Extraterrestrial Intelligent Unmanned System Laboratory of Beijing Institute of control engineeringunder the conditions of simulated extraterrestrial test yard. The data set includes multi source environment perception data, the surface mobile detector’s own state data and accurate external measurement data, so as to provide basic data sets and experimental verification conditions for, and promotes the research on the theory, method and technology application of artificial intelligence in deep space exploration.

Key words: extraterrestrial detection, surface patrol detection, unmanned system, perception, manipulation, multisource dataset