Autonomous Rock Tracking and Acquisition from a Mars Rover
Autonomous Rock Tracking and Acquisition from a Mars Rover
- New search for: M. W. Maimone
- New search for: I. A. Nesnas
- New search for: H. Das
- New search for: M. W. Maimone
- New search for: I. A. Nesnas
- New search for: H. Das
Future Mars exploration missions will perform two types of experiments: science instrument placement for close-up measurement, and sample acquisition for return to Earth. In this paper we describe algorithms we developed for these tasks, and demonstrate them in field experiments using a self-contained Mars Rover prototype, the Rocky 7 rover. Our algorithms perform visual servoing on an elevation map instead of image features, because the latter are subject to abrupt scale changes during the approach. 'This allows us to compensate for the poor odometry that results from motion on loose terrain. We demonstrate the successful grasp of a 5 cm long rock over 1m away using 103-degree field-of-view stereo cameras, and placement of a flexible mast on a rock outcropping over 5m away using 43 degree FOV stereo cameras.
Document information
Autonomous Rock Tracking and Acquisition from a Mars Rover
1999
6 pages
Report
No indication
English
Similar titles
Autonomous Rock Tracking and Acquisition from a Mars Rover
| British Library Conference Proceedings | 1999
Mars Rover Autonomous Navigation
| British Library Online Contents | 2003