Mars Exploration Rover Engineering Cameras

Maki, J. N.; Bell, James F.; Herkenhoff, K. E.; Squyres, S. W.; Kiely, Aaron; Klimesh, M.; Schwochert, Mark A.; Litwin, Todd; Willson, Reg G.; Johnson, Andrew; Maimone, Mark; Baumgartner, Eric T.; Collins, Adam; Wadsworth, Mark; Elliot, Stephen; Dingizian, A.; Brown, David W.; Hagerott, E. C.; Scherr, L.; Deen, R.; Alexander, D.; Lorre, J. J.

doi:10.1029/2003je002077

Cited by 185 publications

(181 citation statements)

References 15 publications

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“…Additional errors involve imprecise stereo calibration and ranging accuracy. For example, with a baseline of 10 cm and a nominal target range of one meter, error analysis predicts that range accuracy errors alone can be as much as 6 mm [8].…”

Section: Flight State-of-the-art: Stereo Triangulation / Calibrationmentioning

confidence: 99%

“…This five degree of freedom arm, shown in Figure 4, is one of the manipulators in JPLs Modular Robotic Testbed, where robotic arms of various kinematic configurations can be quickly and easily constructed from AMTEC PowerCubes and steel piping. This system has the approximate kinematic structure and camera locations of the Mars Exploration Rover (MER) vehicle [5], [8]. The camera configuration has two cameras with an 10 cm baseline pointing 30 degrees down.…”

Section: Experimental Comparisonsmentioning

confidence: 99%

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Vision guided manipulation for planetary robotics — position control

Nickels

DiCicco

Bajracharya

et al. 2010

Robotics and Autonomous Systems

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Manipulation systems for planetary exploration operate under severe restrictions. They need to integrate vision and manipulation to achieve the reliability, safety, and predictability required of expensive systems operating on remote planets. They also must operate on very modest hardware that is shared with many other systems, and must operate without human intervention.Typically such systems employ calibrated stereo cameras and calibrated manipulators to achieve precision of the order of one centimeter with respect to instrument placement activities. This paper presents three complementary approaches to vision guided manipulation designed to robustly achieve high precision in manipulation. These approaches are described and compared, both in simulation and on hardware.In-situ estimation and adaptation of the manipulator and/or camera models in these methods account for changes in the system configuration, thus ensuring consistent precision for the life of the mission. All three methods provide severalfold increases in accuracy of manipulator positioning over the standard flight approach.

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Section: Flight State-of-the-art: Stereo Triangulation / Calibrationmentioning

confidence: 99%

Section: Experimental Comparisonsmentioning

confidence: 99%

Vision guided manipulation for planetary robotics — position control

Nickels

DiCicco

Bajracharya

et al. 2010

Robotics and Autonomous Systems

View full text Add to dashboard Cite

show abstract

“…The Panoramic Camera, or PanCam for short, will take high-resolution panoramic images of the surface. 35 Images taken by PanCam would be useful in identifying potentially interesting sampling sites, while the Navigation Cameras ("NavCams") 36 will take wider field-of-view images to be used to direct the rover driving. Images provided from NavCam as well as PanCam will also provide data for investigative studies of surface morphology, rock and soil distribution, as well as the general surface geology.…”

Section: Candidate Science Payloadmentioning

confidence: 99%

A Wind-powered Rover for a Low-Cost Venus Mission

Benigno

Hoza

Motiwala

et al. 2013

51st AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition

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Venus, with a surface temperature of 450°C and an atmospheric pressure 90 times higher than that of the Earth, is a difficult target for exploration. However, high-temperature electronics and power systems now being developed make it possible that future missions may be able to operate in the Venus environment. Powering such a rover within the scope of a Discovery class mission will be difficult, but harnessing Venus' surface winds provides a possible way to keep a powered rover small and light. This project scopes out the feasibility of a wind-powered rover for Venus surface missions. Two rover concepts, a landsailing rover and a wind-turbine-powered rover, were considered. The turbine-powered rover design is selected as being a low-risk and low-cost strategy. Turbine detailed analysis and design shows that the turbine can meet mission requirements across the desired range of wind speeds by utilizing three constant voltage generators at fixed gear ratios.

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“…Moreover, structural deformations between cameras can cause serious issues for field robotics applications [6] and must be accounted for. Knocks, pressure changes and vibration can cause a stereo calibration to degenerate such that epipolar matching and scene point triangulation is seriously affected.…”

mentioning

confidence: 99%

High Altitude Stereo Visual Odometry

Warren

Upcroft

2013

Robotics: Science and Systems IX

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Abstract-Stereo visual odometry has received little investigation in high altitude applications due to the generally poor performance of rigid stereo rigs at extremely small baseline-to-depth ratios. Without additional sensing, metric scale is considered lost and odometry is seen as effective only for monocular perspectives. This paper presents a novel modification to stereo based visual odometry that allows accurate, metric pose estimation from high altitudes, even in the presence of poor calibration and without additional sensor inputs. By relaxing the (typically fixed) stereo transform during bundle adjustment and reducing the dependence on the fixed geometry for triangulation, metrically scaled visual odometry can be obtained in situations where high altitude and structural deformation from vibration would cause traditional algorithms to fail. This is achieved through the use of a novel constrained bundle adjustment routine and accurately scaled pose initializer. We present visual odometry results demonstrating the technique on a short-baseline stereo pair inside a fixed-wing UAV flying at significant height (∼30-100m).

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Mars Exploration Rover Engineering Cameras

Cited by 185 publications

References 15 publications

Vision guided manipulation for planetary robotics — position control

Vision guided manipulation for planetary robotics — position control

A Wind-powered Rover for a Low-Cost Venus Mission

High Altitude Stereo Visual Odometry

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