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Proceedings Paper

A Vision System For A Mars Rover
Author(s): Brian H. Wilcox; Donald B. Gennery; Andrew H. Mishkin; Brian K. Cooper; Teri B. Lawton; N. Keith Lay; Steven P. Katzmann
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Paper Abstract

A 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.

Paper Details

Date Published: 1 January 1987
PDF: 8 pages
Proc. SPIE 0852, Mobile Robots II, (1 January 1987); doi: 10.1117/12.968245
Show Author Affiliations
Brian H. Wilcox, California Institute of Technology (United States)
Donald B. Gennery, California Institute of Technology (United States)
Andrew H. Mishkin, California Institute of Technology (United States)
Brian K. Cooper, California Institute of Technology (United States)
Teri B. Lawton, California Institute of Technology (United States)
N. Keith Lay, California Institute of Technology (United States)
Steven P. Katzmann, California Institute of Technology (United States)

Published in SPIE Proceedings Vol. 0852:
Mobile Robots II
Wendell H. Chun; William J. Wolfe, Editor(s)

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