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A vision system for a Mars roverA Mars rover must be able to sense its local environment with sufficient resolution and accuracy to avoid local obstacles and hazards while moving a significant distance each day. Power efficiency and reliability are extremely important considerations, making stereo correlation an attractive method of range sensing compared to laser scanning, if the computational load and correspondence errors can be handled. Techniques for treatment of these problems, including the use of more than two cameras to reduce correspondence errors and possibly to limit the computational burden of stereo processing, have been tested at JPL. Once a reliable range map is obtained, it must be transformed to a plan view and compared to a stored terrain database, in order to refine the estimated position of the rover and to improve the database. The slope and roughness of each terrain region are computed, which form the basis for a traversability map allowing local path planning. Ongoing research and field testing of such a system is described.
Document ID
19890024460
Document Type
Conference Paper
Authors
Wilcox, Brian H.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Gennery, Donald B.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Mishkin, Andrew H.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Cooper, Brian K.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Lawton, Teri B.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Lay, N. Keith
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Katzmann, Steven P.
(California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)
Date Acquired
August 13, 2013
Publication Date
January 1, 1988
Subject Category
Ground Support Systems And Facilities (Space)
Meeting Information
Mobile Robots II(Cambridge, MA)
Distribution Limits
Public
Copyright
Other
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