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Proceedings Paper

PRoViScout: a planetary scouting rover demonstrator
Author(s): Gerhard Paar; Mark Woods; Christiane Gimkiewicz; Frédéric Labrosse; Alberto Medina; Laurence Tyler; David P. Barnes; Gerald Fritz; Konstantinos Kapellos
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Paper Abstract

Mobile systems exploring Planetary surfaces in future will require more autonomy than today. The EU FP7-SPACE Project ProViScout (2010-2012) establishes the building blocks of such autonomous exploration systems in terms of robotics vision by a decision-based combination of navigation and scientific target selection, and integrates them into a framework ready for and exposed to field demonstration. The PRoViScout on-board system consists of mission management components such as an Executive, a Mars Mission On-Board Planner and Scheduler, a Science Assessment Module, and Navigation & Vision Processing modules. The platform hardware consists of the rover with the sensors and pointing devices. We report on the major building blocks and their functions & interfaces, emphasizing on the computer vision parts such as image acquisition (using a novel zoomed 3D-Time-of-Flight & RGB camera), mapping from 3D-TOF data, panoramic image & stereo reconstruction, hazard and slope maps, visual odometry and the recognition of potential scientifically interesting targets.

Paper Details

Date Published: 23 January 2012
PDF: 14 pages
Proc. SPIE 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques, 83010A (23 January 2012); doi: 10.1117/12.906122
Show Author Affiliations
Gerhard Paar, JOANNEUM RESEARCH (Austria)
Mark Woods, SciSys Ltd. (United Kingdom)
Christiane Gimkiewicz, CSEM Zurich Ctr. (Switzerland)
Frédéric Labrosse, Aberystwyth Univ. (United Kingdom)
Alberto Medina, GMV S.A. (Spain)
Laurence Tyler, Aberystwyth Univ. (United Kingdom)
David P. Barnes, Aberystwyth Univ. (United Kingdom)
Gerald Fritz, Joanneum Research (Austria)
Konstantinos Kapellos, Trasys (Belgium)

Published in SPIE Proceedings Vol. 8301:
Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques
Juha Röning; David P. Casasent, Editor(s)

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