| Title: | NASA Senseta rover : repairing the mobility system and enhancing the visual cortex |
| Authors: | Guilhem Le Carrour, Author |
| Material Type: | ISU Individual Project |
| Publisher: | Illkirch-Graffenstaden (France) : International Space University, 2023 |
| Format: | 1 electronic resource (vii, 41 p.) / col. ill. |
| Bibliography note: | Includes bibliographical references |
| Languages: | English |
| Subjects: | Application software ; Computer vision ; Roving vehicles (Astronautics) ; Space robotics |
| Description: |
The International Space University acquired in 2010 a rover, built by students for the NASA Ames Center, with purpose of training and outreaching. Along the years, it allowed students of the Master of Space Studies (MSS) to learn and practice how a rover works, and to showcase planetary exploration to a young audience of middle and high school students.
In 2020, an MSS student improved the rover by changing its on-board computer with a Raspberry Pi 4B. This new “brain”, used with the two on-board webcams, could be used to develop a cheap stereo vision system. Would it be enough to simulate the technology used by expensive Martian rovers like Perseverance? This individual project had for goal to improve the visual cortex of the rover, by acquiring real time pairs of images with the two “eyes”, and implementing the stereo vision algorithm necessary to reconstruct the 3D environment around the rover. An intense phase of testing runs have been done to evaluate the hardware capabilities of the Raspberry Pi for this task. The results of this study were the writing of complete Python scripts, and the realization that more tests must be done. Indeed, the algorithm is mathematically complex and a lot of parameters and variables impact deeply the quality of the final results. |
| ISU program : | Master of Space Studies |
| Format : | Online/Open Access |
| Permalink: | https://isulibrary.isunet.edu/index.php?lvl=notice_display&id=11878 |
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 Le Carrour, Guilhem_IP (3.40MB) Adobe Acrobat PDF |
