Stereo Vision Based Motion Estimation for Lunar Rover Navigation

Cui, Pingyuan; Yue, Fuzhan; Cui, Hutao

doi:10.1109/icmlc.2006.258696

Cited by 2 publications

(1 citation statement)

References 10 publications

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“…In late April 2005, Opportunity got stuck in a soft sand dune and due to significant wheel slippage; it took many weeks until it finally got back onto firm ground in early June 2005 [2]. As solutions proposed here are as follows:  Technically, a terrestrial analog had been used to measure the amount of slippage of the drive wheels during a traversal of Mars-like terrain [22,23]. This measurement depends on the markings lane generated by the rover itself.…”

Section: Challenge 2: Wheel Slippage Of Planetary Robotsmentioning

confidence: 99%

Exploration and Cooperation Robotics on the Moon

Alfraheed

Al-Zaghameem²

2013

JSIP

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Space robotics are the development of general purpose machines that is capable of surviving (for a time, at least) in the rigors of the space environment, and performing exploration, assembly, construction, maintenance, servicing. Space Robots can perform tasks less expensively or on an accelerated schedule, with less risk and occasionally with improved performance while humans doing the same tasks. The moon is the natural next step in the exploration of our own universe. Understanding moon better will help us understand our neighbors in the solar system. In this paper, a concept of exploration and cooperation robotics on the moon is discussed. The concept requires not only to extend the exploration mission on the moon surface but also to address a way to integrate the developed robotics with each other. Sharing the information between robots is one of a concept's features to reduce lime and power consumption in the exploration process. Moreover, several challenges are discussed here, which prevent the concept from developing in outer space or on moon.

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Section: Challenge 2: Wheel Slippage Of Planetary Robotsmentioning

confidence: 99%

Exploration and Cooperation Robotics on the Moon

Alfraheed

Al-Zaghameem²

2013

JSIP

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Research on stereo vision odometry

Zhang

Xiao-bing

2010

Optoelectronic Imaging and Multimedia Technology

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The stereo visual odometer in vision based on the navigation system is proposed in the paper. The stereo visual odometer can obtain the motion data to implement the position and attitude estimation of ALV(Autonomous Land Vehicle). Two key technology in the stereo vision odometer are dissertated. The first is using SIFT (Scale Invariant Feature Transform) to extract suitable feature, match points pairs in the feature, and track the feature of fore and after frames of the same point on the object. The second is using matching and tracking to obtain the different 3-D coordinate of the feature of the point on the object, and to compute the motion parameters by motion estimate. The unknown outdoor environment is adopted in the experiment. The results show that the stereo vision odometer is more accurate, and the measurement error dose not increase with the movement distance increasing. It can be used as an important supplement of conventional odometer.

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Stereo Vision Based Motion Estimation for Lunar Rover Navigation

Cited by 2 publications

References 10 publications

Exploration and Cooperation Robotics on the Moon

Exploration and Cooperation Robotics on the Moon

Research on stereo vision odometry

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