Over-the-horizon, autonomous navigation for planetary exploration

Rekleitis, Ioannis; Bedwani, Jean-Luc; Dupuis, Érick

doi:10.1109/iros.2007.4399533

Cited by 22 publications

(9 citation statements)

References 43 publications

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“…Pairwise alignment of sequential scans of planetary analogue terrain has been conducted for 3D localization using variants of ICP by several research groups. Notable applications to rover navigation include the experiments conducted by Se, Ng, Jasiobedzki, and Moyung (2004) in a quarry, and the work by Bakambu, Allard, & Dupuis (2006), achieving sufficiently accurate registration for path‐planning (Rekleitis, Bedwani, & Dupuis, 2007) and a long‐range exploration task (Dupuis et al, 2008). Further refinements (Bakambu, Gemme, et al, 2006) utilized a feature‐based method, identifying regions of high curvature and using both spin image (Johnson, 1997) and point fingerprint (Sun et al, 2003) representations for the feature descriptor.…”

Section: Literature Reviewmentioning

confidence: 99%

TGF‐β signaling is dynamically regulated during the alveolarization of rodent and human lungs

Alejandre-Alcázar

Michiels-Corsten

Vicencio

et al. 2007

Developmental Dynamics

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Although transforming growth factor-beta (TGF-␤) signaling negatively regulates branching morphogenesis in early lung development, few studies to date have addressed the role of this family of growth factors during late lung development. We describe here that the expression, tissue localization, and activity of components of the TGF-␤ signaling machinery are dynamically regulated during late lung development in the mouse and human. Pronounced changes in the expression and localization of the TGF-␤ receptors Acvrl1, Tgfbr1, Tgfbr2, Tgfbr3, and endoglin, and the intracellular messengers Smad2, Smad3, Smad4, Smad6, and Smad7 were noted as mouse and human lungs progressed through the canalicular, saccular, and alveolar stages of development. TGF-␤ signaling, assessed by phosphorylation of Smad2, was detected in the vascular and airway smooth muscle, as well as the alveolar and airway epithelium throughout late lung development. These data suggest that active TGF-␤ signaling is required for normal late lung development. Developmental Dynamics 237:259 -269, 2008.

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Section: Literature Reviewmentioning

confidence: 99%

TGF‐β signaling is dynamically regulated during the alveolarization of rodent and human lungs

Alejandre-Alcázar

Michiels-Corsten

Vicencio

et al. 2007

Developmental Dynamics

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“…During the 2006 testing campaign [22] several semi-autonomous navigation experiments were performed achieving trajectories up to 150 m; cf. 5a.…”

Section: Resultsmentioning

confidence: 99%

Experimental Results for Over-the-Horizon Planetary Exploration Using a LIDAR Sensor

Rekleitis

Bedwani

Gingras

et al. 2009

Experimental Robotics

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Summary. In this paper we present the experimental results validating the approach for autonomous planetary exploration developed by the Canadian Space Agency (CSA). The goal of this work is to autonomously navigate to remote locations, well beyond the sensing horizon of the rover, with minimal interaction with a human operator. We employ LIDAR range sensors due to their accuracy, long range and robustness in the harsh lighting conditions of space. Irregular triangular meshes (ITM) are used for representing the environment providing an accurate yet compact spatial representation. In this paper after a brief overview of the proposed approach, we discuss the terrain modelling used. A variety of experiments performed in CSA's Mars emulation terrain that validate our approach are also presented.

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“…Both techniques were poorly suited as they are intended to estimate closed surfaces and make no use of the visibility space carving of VRIP and as such produce overconfident interpolations creating large amounts of data where none exists. Another promising technique is the irregular triangular mesh representation (Rekleitis, Bedwani, & Dupuis, 2007), which provides a variableresolution model that can incorporate overhangs. However, the outlier rejection in this case is based on edge length and therefore lacks the full 3D voxel averaging and outlier control of VRIP.…”

Section: Mesh Aggregationmentioning

confidence: 99%

Generation and visualization of large‐scale three‐dimensional reconstructions from underwater robotic surveys

Johnson-Roberson

Pizarro

Williams

et al. 2009

Journal of Field Robotics

249

182

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Robust, scalable simultaneous localization and mapping (SLAM) algorithms support the successful deployment of robots in real-world applications. In many cases these platforms deliver vast amounts of sensor data from large-scale, unstructured environments. These data may be difficult to interpret by end users without further processing and suitable visualization tools. We present a robust, automated system for large-scale three-dimensional (3D) reconstruction and visualization that takes stereo imagery from an autonomous underwater vehicle (AUV) and SLAM-based vehicle poses to deliver detailed 3D models of the seafloor in the form of textured polygonal meshes. Our system must cope with thousands of images, lighting conditions that create visual seams when texturing, and possible inconsistencies between stereo meshes arising from errors in calibration, triangulation, and navigation. Our approach breaks down the problem into manageable stages by first estimating local structure and then combining these estimates to recover a composite georeferenced structure using SLAM-based vehicle pose estimates. A texture-mapped surface at multiple scales is then generated that is interactively presented to the user through a visualization engine. We adapt established solutions when possible, with an emphasis on quickly delivering approximate yet visually consistent reconstructions on standard computing hardware. This allows scientists on a research cruise to use our system to design follow-up deployments of the AUV and complementary instruments. To date, this system has been tested on several research cruises in Australian waters and has been used to reliably generate and visualize reconstructions for more than 60 dives covering diverse habitats and representing hundreds of linear kilometers of survey. C 2009 Wiley Periodicals, Inc.

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Over-the-horizon, autonomous navigation for planetary exploration

Cited by 22 publications

References 43 publications

TGF‐β signaling is dynamically regulated during the alveolarization of rodent and human lungs

TGF‐β signaling is dynamically regulated during the alveolarization of rodent and human lungs

Experimental Results for Over-the-Horizon Planetary Exploration Using a LIDAR Sensor

Generation and visualization of large‐scale three‐dimensional reconstructions from underwater robotic surveys

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