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Proceedings Paper

Computer Modelling: A Structured Light Vision System For A Mars Rover
Author(s): John J. Nitao; Donald H. Cronquist
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Paper Abstract

A computer model has been developed as a tool for evaluating the use of structured light systems for local navigation of the Mars Rover. The system modeled consists of two laser sources emanating flat, widened beams with a single camera to detect stripes on the terrain. The terrain elevation extracted from the stripe information goes to updating a local terrain map which is processed to determine impassable regions. The system operates with the beams and cameras fixed except, now and then, the beams are vertically panned to completely refresh the local map. An efficient surface removal algorithm determines the points on the terrain surface hit by rays in the bundle. The power of each reflected ray that falls on each pixel of the camera is computed using well-known optical laws.

Paper Details

Date Published: 1 March 1990
PDF: 12 pages
Proc. SPIE 1195, Mobile Robots IV, (1 March 1990); doi: 10.1117/12.969880
Show Author Affiliations
John J. Nitao, FMC Corporation (United States)
Donald H. Cronquist, FMC Corporation (United States)


Published in SPIE Proceedings Vol. 1195:
Mobile Robots IV
Wendell H. Chun; William J. Wolfe, Editor(s)

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