Lightweight Rovers for Mars Science Exploration and Sample Return
We report on the development of new mobile robots for Mars exploration missions.
mobile robots 3D sensing robotic sampling planetar↗
Engineering topics
Matthies, L.
Publications and source records attributed to Matthies, L..
Machine Vision Algorithms for Autonomous Small Body Navigation
Due to the small size, irregular shape and variable surface properties of small bodies, accurate motion and position estimation is needed for safe and precise small body exploration.
asteroid navigation↗
Passive Night Vision Sensor Comparison for Unmanned Ground Vehicle Stereo Vision Navigation
One goal of the Demo III unmanned ground vehicle program is to enable autonomous nighttime navigation at speeds of up to 10 m.p.h.
Night↗
Precise Image-based Motion Estimation for Autonomous Small Body Exploration
Space science and solar exploration are driving NASA to develop an array of small body missions ranging in scope from near body flybys to complete sample return.
motion↗
Precise Image-Based Motion Estimation for Autonomous Small Body Exploration
Because they hold answers to questions about the origin of our solar system, comets and asteroids play a prominent role in NASA's roadmap for solar system exploration. This paper presents an algorithm for autonomous onboard motion estimation that will enable the precision guidance and landing necessary for small body sample return.
precision↗
Miniature Robots for Space and Military Mission
This paper describes the technologies under development, the applications where these technologies are relevant to both space and military missions, and the status of the most recent technology demonstrations in terrestrial scenarios.
Miniature↗
A Photo-Realistic 3-D Mapping System for Extreme Nuclear Environments: Chornobyl
We present a novel stereoscopic mapping system for use in nuclear accident settings. First we discuss a radiation shielded sensor array desigtned to tolerate 10(sup 6)R of cumulative dose. Next we give procedures to ensure timely, accurate range estimation using trinocular stereo. Finally, we review the implementation of a system for the integration of range information into a 3-D, textured, metrically accurate surface mesh.
3-D mapping Chornobyl robot Pioneer robot Pioneer ↗
Robotic Perception for Autonomous Navigation of Mars Rover
This paper surveys key progress in sensors, algorithms, and processors that has alleviated these specific barriers, thereby enabling practical autonomous navigation.
processors ALV Autonomous Land Vehicle DARPA↗
An Autonomous Path Planner Implemented on the Rocky7 Prototype Microrover
Much prior work in mobile robot path planning has been based on assumptions that are not really applicable for exploration of planetary terrains.
planetary terrains Rocky7 Prototype Microrover Aut↗
Performance Evaluation of UGV Obstacle Detection with LADAR and CCD/FLIR Stereo Vision
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UGV Obstacle Detection LADAR CCD/FLIR Stereo Visio↗
Visual Ordnance Recognition for Clearing Test Ranges
We describe a method for recognizing surface-lying ordnance in test ranges using stereo range information and image edge maps.
Ordnance↗
New Planetary Rovers for Long Range Mars Science and Sample Return
There are significant international efforts underway to place mobile robots (rovers) on the surface of Mars.
sample return planetary science↗
Fast Optical Hazard Detection for Planetary Rovers Using Multiple Spot Laser Triangulation
A new laser-based optical sensor system that provides hazard detection for planetary rovers is presented. It is anticipated that the sensor can support safe travel at speeds up to 6cm/second for large (1m) rovers in full sunlight on Earth or Mars. The system overcomes limitations in an older design that require image differencing ot detect a laser stripe in full sun.
laser based optical sensor system planetary rovers↗
Mobile Robot Localization by Remote Viewing of a Colored Cylinder
A system was developed for the Mars Pathfinder rover in which the rover checks its position by viewing the angle back to a colored cylinder with different colors for different angles. The rover determines distance by the apparent size of the cylinder.
robots planetary exploration remote sensing positi↗
Multiresolution Image Sensor Using Switched Capacitor Circuits
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multiresolution image processing multiresolution i↗