Terrain Modelling for In-situ Activity Planning and Rehearsal for the Mars Exploration Rovers

Author

Wright, John ; Trebi-Ollennu, Ashitey ; Hartman, Frank ; Cooper, Brian ; Maxwell, Scott ; Yen, Jeng ; Morrison, Jack

Author_Institution

Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA

Volume

2

fYear

2005

fDate

12-12 Oct. 2005

Firstpage

1372

Lastpage

1377

Abstract

Immersive environments are being used to support mission operations at the Jet Propulsion Laboratory. This technology contributed to the Mars Pathfinder Mission in planning sorties for the Sojourner rover and is being used for the Mars Exploration Rover (MER) missions. The stereo imagery captured by the rovers is used to create 3D terrain models, which can be viewed from any angle, to provide a powerful and information rich immersive visualization experience. These technologies contributed heavily to both the mission success and the phenomenal level of public outreach achieved by Mars Pathfinder and MER. This paper reviews the utilization of terrain modelling for immersive environments in support of MER

Keywords

Mars; astronomy computing; data visualisation; planetary rovers; solid modelling; stereo image processing; terrain mapping; 3D terrain modelling; Jet Propulsion Laboratory; MER missions; Mars Exploration Rovers; Mars Pathfinder Mission; Sojourner rover; immersive visualization environments; in-situ activity planning; stereo image; Arm; Cameras; Lifting equipment; Mars; Orbital robotics; Path planning; Power system modeling; Propulsion; Technology planning; Visualization; Immersive environments; MER; Mars; terrain modelling; visualization;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2005 IEEE International Conference on

Conference_Location

Waikoloa, HI

Print_ISBN

0-7803-9298-1

Type

conf

DOI

10.1109/ICSMC.2005.1571338

Filename

1571338