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Proceedings Paper

Hierarchical multisensor analysis for robotic exploration
Author(s): Susan J. Eberlein; Gigi Yates; Eric Majani
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Paper Abstract

Robotic 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.

Paper Details

Date Published: 1 March 1991
PDF: 9 pages
Proc. SPIE 1388, Mobile Robots V, (1 March 1991); doi: 10.1117/12.25502
Show Author Affiliations
Susan J. Eberlein, Jet Propulsion Lab. (United States)
Gigi Yates, Jet Propulsion Lab. (United States)
Eric Majani, Jet Propulsion Lab. (United States)


Published in SPIE Proceedings Vol. 1388:
Mobile Robots V
Wendell H. Chun; William J. Wolfe, Editor(s)

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