Title :
Stereo vision, residual image processing and Mars rover localization
Author :
Matthies, Larry ; Chen, Byron ; Petrescu, Jon
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Abstract :
Experiments had been conducted on Mars rover detection and localization using residue image processing and stereo vision. In NASA´s Pathfinder mission, an unmanned lander had been landed on Mars and a microrover was released from the lander to perform scientific experiments. Rover localization is an important issue because, for navigation purpose the rover´s position needs to be continuously updated. Three aspects of the problem have been studied: motion detection, residue image processing, and range estimation. The algorithms are described. Stereo-pairs of images taken at the Jet Propulsion´s Laboratory´s (JPL´s) Mars Test Arena were used to test the algorithms. The results were presented along with analysis of range estimation accuracy
Keywords :
Mars; aerospace computing; aerospace test facilities; distance measurement; image segmentation; motion estimation; space research; space vehicles; stereo image processing; JPL; Jet Propulsion Laboratory; Mars Test Arena; Mars rover detection; Mars rover localization; NASA Pathfinder mission; algorithms; image segmentation; microrover; motion detection; navigation; range estimation accuracy; residual image processing; scientific experiments; stereo image pairs; stereo vision; unmanned lander; Automatic control; Cameras; Earth; Image processing; Laboratories; Mars; Motion detection; Propulsion; Stereo vision; Testing;
Conference_Titel :
Image Processing, 1997. Proceedings., International Conference on
Conference_Location :
Santa Barbara, CA
Print_ISBN :
0-8186-8183-7
DOI :
10.1109/ICIP.1997.632077