Engineering topics
Matthies, L. H.
Publications and source records attributed to Matthies, L. H..
Venus Aerial Platforms and Engineering and Scientific Modeling Needs
NASA’s Planetary Science Division is performing an assessment of the state of technology in aerial platforms for exploration of Venus. A key factor in the design of aerial platforms is knowledge of the Venus environment. Modeling the Venus environment, which is the subject of this workshop, is needed for the design of robust aerial platforms that can carry out their missions successfully. The purpose of this paper is to enumerate the kinds of models that are important for both engineering and scientific aspects of the design of an aerial platform mission. The first meeting of the NASA Aerial Platforms study team took place from May 30 to June 2, 2017 and defined the science that can be performed by aerial platforms. A second study meeting is planned for late November 2017. This paper focuses on the current status.
Daytime Water Detection by Fusing Multiple Cues for Autonomous Off-Road Navigation
Detecting water hazards is a significant challenge to unmanned ground vehicle autonomous off-road navigation. This paper focuses on detecting the presence of water during the daytime using color cameras. A multi-cue approach is taken. Evidence of the presence of water is generated from color, texture, and the detection of reflections in stereo range data. A rule base for fusing water cues was developed by evaluating detection results from an extensive archive of data collection imagery containing water. This software has been implemented into a run-time passive perception subsystem and tested thus far under Linux on a Pentium based processor.
Optical landmark detection for spacecraft navigation
In this paper, a new crater detection algorithm is suggested. Experimental studies show that this new algorithm can achieve sub-pixel accuracy in position, its detection rate is better than 90% and its false alarm rate is less than 5%. These good characteristics indicate that it is an ideal crater detection algorithm for spacecraft optical navigation.
Efficient passive image-based hazard detection for safe landing on Mars
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Stereo ego-motion improvements for robust rover navigation
In this paper we describe a methodology for long-distance navigation that meets the goal of finding an accurate method for tracking the robot position in the environment.
Machine Vision for Autonomous Small Body Navigation
This paper describes machine vision algorithms that enable precision guidance and hazard avoidance during small body exploration through onboard visual feature tracking and landmark recognition.
Locating Geometric Primitives by Pruning the Parameter Space
This paper examines the extraction of geometric primitives from two- and three-dimensional image data. The geometric primitives are represented by parametric manifolds in the image space, such as circles, planes, and cylinders.
The Pathfinder Microrover
An exciting scientific component of the Pathfinder mission is the rover, which will act as a mini-field geologist by providing us with access to samples for chemical analyses and close-up images of the Martian surface, performing active experiments to modify the surface and study the results, and exploring the landing site area.