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International Conference on Computer Analysis of Images and Patterns

CAIP 1997: Computer Analysis of Images and Patterns pp 677–685Cite as

Algorithmic solution and simulation results for vision-based autonomous mode of a planetary rover

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Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 1296))

Abstract

A vision based navigation (VBN) system is chosen as a basic tool to support autonomous operations of a planetary rover during space missions. The rover equipped with a stereo vision system and perhaps a laser ranging device shall be able to maintain a high level of autonomy under various illumination conditions and with little a priori information about the underlying scene. Within the LEDA Moon exploration project currently under focus by the European Space Agency, in autonomous mode the rover should perform on-board absolute localization, digital elevation model (DEM) generation, obstacle detection and relative localization, global path planning and execution.

Focus of this paper is to simulate some of the path planning and path execution steps. Using a laboratory terrain mockup and an accurate camera mounting device, stereo image sequences are used for 3D scene reconstruction, risk map generation, local path planning, and position update by landmarks tracking. It is shown that standalone landmark tracking is robust enough to give navigation data for further stereoscopic reconstruction of the surrounding terrain. Iterative tracking and reconstruction leads to a complete description of the rover path and its surrounding with an accuracy high enough to meet the specifications for unmanned space exploration.

This work was supported in part by the Austrian Science Foundation (FWF) under grants S7003-MAT and M00265-MAT, and JOANNEUM RESEARCH.

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Author information

Authors and Affiliations

  1. Max-Planck Institute für Aeronomie, Lindau, Germany

    Marina Kolesnik

  2. JOANNEUM RESEARCH, Graz, Austria

    Gerhard Paar

Authors
  1. Marina Kolesnik
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  2. Gerhard Paar
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Editor information

Gerald Sommer Kostas Daniilidis Josef Pauli

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© 1997 Springer-Verlag Berlin Heidelberg

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Kolesnik, M., Paar, G. (1997). Algorithmic solution and simulation results for vision-based autonomous mode of a planetary rover. In: Sommer, G., Daniilidis, K., Pauli, J. (eds) Computer Analysis of Images and Patterns. CAIP 1997. Lecture Notes in Computer Science, vol 1296. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-63460-6_178

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  • DOI: https://doi.org/10.1007/3-540-63460-6_178

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-63460-7

  • Online ISBN: 978-3-540-69556-1

  • eBook Packages: Springer Book Archive

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