Autonomous Rock Tracking and Acquisition from a Mars Rover
Future Mars exploration missions will perform two types of experiments: science instrument placement for close-up measurement, and sample acquisition for return to Earth. In this paper we describe algorithms we developed for these tasks, and demonstrate them in field experiments using a self-contain...
Main Authors: | , , |
---|---|
Language: | unknown |
Published: |
1999
|
Subjects: | |
Online Access: | http://hdl.handle.net/2060/20000054884 |
id |
ftnasantrs:oai:casi.ntrs.nasa.gov:20000054884 |
---|---|
record_format |
openpolar |
spelling |
ftnasantrs:oai:casi.ntrs.nasa.gov:20000054884 2023-05-15T17:08:22+02:00 Autonomous Rock Tracking and Acquisition from a Mars Rover Das, Hari Nesnas, Issa A. Maimone, Mark W. Unclassified, Unlimited, Publicly available [1999] application/pdf http://hdl.handle.net/2060/20000054884 unknown Document ID: 20000054884 http://hdl.handle.net/2060/20000054884 No Copyright CASI Lunar and Planetary Science and Exploration 1999 ftnasantrs 2015-03-15T02:43:15Z Future Mars exploration missions will perform two types of experiments: science instrument placement for close-up measurement, and sample acquisition for return to Earth. In this paper we describe algorithms we developed for these tasks, and demonstrate them in field experiments using a self-contained Mars Rover prototype, the Rocky 7 rover. Our algorithms perform visual servoing on an elevation map instead of image features, because the latter are subject to abrupt scale changes during the approach. 'This allows us to compensate for the poor odometry that results from motion on loose terrain. We demonstrate the successful grasp of a 5 cm long rock over 1m away using 103-degree field-of-view stereo cameras, and placement of a flexible mast on a rock outcropping over 5m away using 43 degree FOV stereo cameras. Other/Unknown Material Long Rock NASA Technical Reports Server (NTRS) Long Rock ENVELOPE(-61.198,-61.198,-62.689,-62.689) |
institution |
Open Polar |
collection |
NASA Technical Reports Server (NTRS) |
op_collection_id |
ftnasantrs |
language |
unknown |
topic |
Lunar and Planetary Science and Exploration |
spellingShingle |
Lunar and Planetary Science and Exploration Das, Hari Nesnas, Issa A. Maimone, Mark W. Autonomous Rock Tracking and Acquisition from a Mars Rover |
topic_facet |
Lunar and Planetary Science and Exploration |
description |
Future Mars exploration missions will perform two types of experiments: science instrument placement for close-up measurement, and sample acquisition for return to Earth. In this paper we describe algorithms we developed for these tasks, and demonstrate them in field experiments using a self-contained Mars Rover prototype, the Rocky 7 rover. Our algorithms perform visual servoing on an elevation map instead of image features, because the latter are subject to abrupt scale changes during the approach. 'This allows us to compensate for the poor odometry that results from motion on loose terrain. We demonstrate the successful grasp of a 5 cm long rock over 1m away using 103-degree field-of-view stereo cameras, and placement of a flexible mast on a rock outcropping over 5m away using 43 degree FOV stereo cameras. |
author |
Das, Hari Nesnas, Issa A. Maimone, Mark W. |
author_facet |
Das, Hari Nesnas, Issa A. Maimone, Mark W. |
author_sort |
Das, Hari |
title |
Autonomous Rock Tracking and Acquisition from a Mars Rover |
title_short |
Autonomous Rock Tracking and Acquisition from a Mars Rover |
title_full |
Autonomous Rock Tracking and Acquisition from a Mars Rover |
title_fullStr |
Autonomous Rock Tracking and Acquisition from a Mars Rover |
title_full_unstemmed |
Autonomous Rock Tracking and Acquisition from a Mars Rover |
title_sort |
autonomous rock tracking and acquisition from a mars rover |
publishDate |
1999 |
url |
http://hdl.handle.net/2060/20000054884 |
op_coverage |
Unclassified, Unlimited, Publicly available |
long_lat |
ENVELOPE(-61.198,-61.198,-62.689,-62.689) |
geographic |
Long Rock |
geographic_facet |
Long Rock |
genre |
Long Rock |
genre_facet |
Long Rock |
op_source |
CASI |
op_relation |
Document ID: 20000054884 http://hdl.handle.net/2060/20000054884 |
op_rights |
No Copyright |
_version_ |
1766064113729929216 |