Engineering topics

Olson, Clark F.

Publications and source records attributed to Olson, Clark F..

5 records

NASA NTRS1999

Long Range Navigation for Mars Rovers Using Sensor-Based Path Planning and Visual Localisation

The Mars Pathfinder mission illustrated the benefits of including a mobile robotic explorer on a planetary mission. However, for future Mars rover missions, significantly increased autonomy in navigation is required in order to meet demanding mission criteria. To address these requirements, we have developed new path planning and localisation capabilities that allow a rover to navigate robustly to a distant landmark. These algorithms have been implemented on the JPL Rocky 7 prototype microrover and have been tested extensively in the JPL MarsYard, as well as in natural terrain.

Laubach, Sharon L.↗

NASA NTRS1998

A Probabilistic Formulation for Hausdorff Matching

Matching images based on a Hausdorff measure has become popular for computer vision applications. In this paper, we develope a probabilistic formulation for Hausdorff matching in terms of maximum likelihood estimation.

hausdorff Matching↗

NASA NTRS1998

Maximum Likelihood Rover Localization by Matching Range Maps

This paper describes maximum likelihood estimation techniques for performing rover localization in natural terrain by matching range maps.

Rovers Range Maps↗

NASA NTRS1998

RUDR: A New Paradigm for Model Extraction and Fitting

This paper describes a new algorithmic paradigm for solving problems where a model is extracted from or it to data. This paradigm has numerous applications, particularly in computer vision.

algorithmic computer vision RUDR↗

NASA NTRS1997

Visual Localization Methods for Mars Rovers Using Lander, Rover, and Descent Imagery

This paper surveys approaches to visual localization using overhead and ground-level imagery and discusses particular capabilities under development at JPL.

Mars Rovers Lander Visual Localization↗