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Sensor-fused navigation and manipulation from a planetary rover
Home
Publications
Sensor-fused navigation and manipulation from a planetary rover
Sensor-fused navigation and manipulation from a planetary rover
EB
Eric T. Baumgartner
Eric T. Baumgartner
PL
Patrick C. Leger
Patrick C. Leger
PS
Paul S. Schenker
Paul S. Schenker
TH
Terrance L. Huntsberger
Terrance L. Huntsberger
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9 October 1998
conference paper
Published by
SPIE-Intl Soc Optical Eng
Vol. 3523
,
58-66
https://doi.org/10.1117/12.327015
Abstract
This paper describes the development of advanced rover navigation and manipulation techniques for use by NASA's Sample Return Rover. These techniques include an algorithm for estimating the change in the rover's position and orientation by registering successive range maps from the rover's hazard avoidance stereo camera pair and the fusion of this information with the rover's wheel odometry. This map registration technique is also extended to register range maps to an a priori model-based range map for relative rover position and orientation determination. Finally, a technique for the robust and precise positioning of a rover- mounted manipulator using visual feedback from the rover's stereo pair is presented. Experimental results for each of these techniques is documented in this paper.© (1998) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.
Keywords
FEEDBACK
SENSORS
STEREOSCOPIC CAMERAS
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Cited by 18 articles