Title :
General 3D acquisition and tracking of dot targets on a Mars rover prototype
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Abstract :
In June and July 2003 two Mars Exploration Rovers were launched to the Red Planet. Back on Earth, engineering-model rovers were driven on a mock Mars landscape in a large indoor sandbox. Characterizing their complete 6-DOF motion was accomplished by automatically acquiring dot targets mounted on their clattered, upper surfaces from any position and orientation within the sandbox using a system of 12 ceiling-mounted cameras. A least-squares, n-camera, triangulation technique was used to attain typical 3D accuracies of 1-2 cm within the 22m × 9m test area.
Keywords :
aerospace engineering; aerospace robotics; mobile robots; planetary rovers; robot vision; 6-DOF motion; Mars Exploration Rovers; Mars rover prototype; camera model; ceiling-mounted camera; data acquisition; dot target acquisition; engineering-model rover; general 3D acquisition; indoor sandbox; least squares; mock Mars landscape; robot vision; robotics; triangulation technique; Cameras; Laboratories; Mars; Planets; Propulsion; Prototypes; Robot vision systems; Target tracking; Testing; US Department of Transportation; 3D; Acquisition; Camera Models; Clutter; Dot Targets; Least Squares; Mars Rover; Occlusion; Robotics; Tracking; Triangulation; Vision;
Conference_Titel :
Systems, Man and Cybernetics, 2005 IEEE International Conference on
Print_ISBN :
0-7803-9298-1
DOI :
10.1109/ICSMC.2005.1571186
