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Proceedings Paper

NASA Mars rover: a testbed for evaluating applications of covariance intersection
Author(s): Jeffrey K. Uhlmann; Simon J. Julier; Behzad Kamgar-Parsi; Marco O. Lanzagorta; Haw-Jye S. Shyu
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Paper Abstract

The Naval Research Laboratory (NRL) has spearheaded the development and application of Covariance Intersection (CI) for a variety of decentralized data fusion problems. Such problems include distributed control, onboard sensor fusion, and dynamic map building and localization. In this paper we describe NRL's development of a CI-based navigation system for the NASA Mars rover that stresses almost all aspects of decentralized data fusion. We also describe how this project relates to NRL's augmented reality, advanced visualization, and REBOT projects.

Paper Details

Date Published: 22 July 1999
PDF: 10 pages
Proc. SPIE 3693, Unmanned Ground Vehicle Technology, (22 July 1999); doi: 10.1117/12.354442
Show Author Affiliations
Jeffrey K. Uhlmann, Naval Research Lab. (United States)
Simon J. Julier, Naval Research Lab. (United States)
Behzad Kamgar-Parsi, Naval Research Lab. (United States)
Marco O. Lanzagorta, Naval Research Lab. (United States)
Haw-Jye S. Shyu, Naval Research Lab. (United States)


Published in SPIE Proceedings Vol. 3693:
Unmanned Ground Vehicle Technology
Grant R. Gerhart; Robert W. Gunderson; Chuck M. Shoemaker, Editor(s)

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