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Hierarchical multisensor analysis for robotic explorationRobotic vehicles for lunar and Mars exploration will carry an array of complex instruments requiring real-time data interpretation and fusion. The system described here uses hierarchical multiresolution analysis of visible and multispectral images to extract information on mineral composition, texture and object shape. This information is used to characterize the site geology and choose interesting samples for acquisition. Neural networks are employed for many data analysis steps. A decision tree progressively integrates information from multiple instruments and performs goal-driven decision making. The system is designed to incorporate more instruments and data types as they become available.
Document ID
19930035111
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Eberlein, Susan
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Yates, Gigi
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Majani, Eric
(JPL Pasadena, CA, United States)
Date Acquired
August 15, 2013
Publication Date
January 1, 1991
Publication Information
Publication: In: Mobile robots V; Proceedings of the Meeting, Boston, MA, Nov. 8, 9, 1990 (A93-19070 05-63)
Publisher: Society of Photo-Optical Instrumentation Engineers
Subject Category
Ground Support Systems And Facilities (Space)
Accession Number
93A19108
Distribution Limits
Public
Copyright
Other

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