Introduction

Gao, Yang; Allouis, Elie; Iles, Peter; Paar, Gerhard; Fernández, José de Gea

doi:10.1002/9783527684977.ch1

Cited by 1 publication

(2 citation statements)

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“…), Differential Absorption Lidar (DiAL; for measurement of atmospheric temperature and trace gases pressure etc. ), and Doppler LIDAR (velocity measurement) [31]. It uses time-of-flight principles to get depth measurements of the surrounding environment that can be effectively used for 3-D surface mapping and scene reconstruction, refer to Figure 5 for an example illustration.…”

Section: Terrain Perception Onboard Planetary Roversmentioning

confidence: 99%

“…For example, the OSIRIS-REx spacecraft (Lockheed Martin, Bethesda, MD, USA) (planned for launch in 2016) will attempt to map the asteroid 1999 RQ36 using the OSIRIS-REx Laser Altimeter (OLA) (Canadian Space Agency, Quebec, QC, Canada). An advance version of the Laser Camera System by Neptec Design Group; TriDAR (Triangulation and LIDAR Automated Rendezvous and Docking system) was tested on the STS-128 , STS-131 and STS-135 missions to track the International Space Station (ISS) during flight operations and is undergoing further development as a navigation system for lunar rovers [31]. …”

Section: Terrain Perception Onboard Planetary Roversmentioning

confidence: 99%

See 1 more Smart Citation

Towards Camera-LIDAR Fusion-Based Terrain Modelling for Planetary Surfaces: Review and Analysis

Shaukat

Blacker

Spiteri

et al. 2016

Sensors

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In recent decades, terrain modelling and reconstruction techniques have increased research interest in precise short and long distance autonomous navigation, localisation and mapping within field robotics. One of the most challenging applications is in relation to autonomous planetary exploration using mobile robots. Rovers deployed to explore extraterrestrial surfaces are required to perceive and model the environment with little or no intervention from the ground station. Up to date, stereopsis represents the state-of-the art method and can achieve short-distance planetary surface modelling. However, future space missions will require scene reconstruction at greater distance, fidelity and feature complexity, potentially using other sensors like Light Detection And Ranging (LIDAR). LIDAR has been extensively exploited for target detection, identification, and depth estimation in terrestrial robotics, but is still under development to become a viable technology for space robotics. This paper will first review current methods for scene reconstruction and terrain modelling using cameras in planetary robotics and LIDARs in terrestrial robotics; then we will propose camera-LIDAR fusion as a feasible technique to overcome the limitations of either of these individual sensors for planetary exploration. A comprehensive analysis will be presented to demonstrate the advantages of camera-LIDAR fusion in terms of range, fidelity, accuracy and computation.

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Section: Terrain Perception Onboard Planetary Roversmentioning

confidence: 99%

Section: Terrain Perception Onboard Planetary Roversmentioning

confidence: 99%