| Title: | Modeling and matching of landmarks for automation of Mars rover localization |
| Material Type: | report |
| Publisher: | [S.l.] : Ohio State University Press, 2008 |
| Size: | 191 p. / ill. (some col.) / 29 cm |
| Bibliography note: | Thesis Includes bibliographical references. |
| Languages: | English |
| Subjects: | Automation ; Mars (Planet)--Exploration--Automation ; Mars Exploration Rover Mission (U.S.)--Data processing |
| Description: | The Mars Exploration Rover (MER) mission, begun in January 2004, has been extremely successful. However, decision-making for many operation tasks of the current MER mission and the 1997 Mars Pathfinder mission is performed on Earth through a predominantly manual, time-consuming process. Unmanned planetary rover navigation is ideally expected to reduce rover idle time, diminish the need for entering safe-mode, and dynamically handle opportunistic science events without required communication to Earth. Successful automation of rover navigation and localization during the extraterrestrial exploration requires that accurate position and attitude information can be received by a rover and that the rover has the support of simultaneous localization and mapping. An integrated approach with Bundle Adjustment (BA) and Visual Odometry can efficiently refine the rover position. However, during the MER mission, BA is done manually because of the difficulty in the automation of the cross-site tie points selection. This dissertation proposes an automatic approach to select cross-site tie points from multiple rover sites based on the methods of landmark extraction, landmark modeling, and landmark matching. The first step in this approach is that important landmarks such as craters and rocks are defined. Methods of automatic feature extraction and landmark modeling are then introduced. Complex models with orientation angles and simple models without those angles are compared. The results have shown that simple models can provide reasonably good results. Next, the sensitivity of different modeling parameters is analyzed. Based on this analysis, cross-site rocks are matched through two complementary stages: rock distribution pattern matching and rock model matching. In addition, a preliminary experiment on orbital and ground landmark matching is also briefly introduced. Finally, the reliability of the cross-site tie points selection is validated by fault detection, which considers th |
| Access: | http://rave.ohiolink.edu/etdc/view?acc_num=osu1213192082 |
| Permalink: | https://isulibrary.isunet.edu/index.php?lvl=notice_display&id=7699 |
Library - International Space University
Home
Select language
Login
Address
Library - International Space UniversityParc d'innovation 1 rue Jean-Dominique Cassini
67400 Illkirch-Graffenstaden
France
+33 (0)3 88 65 54 32
contact
International Space University
Library - International Space University
pmb
Library - International Space University
1 rue Jean Dominique Cassini
67400 Illkirch-Graffenstaden - France
Phone : +(33) 3 88 65 54 32
Contact us
1 rue Jean Dominique Cassini
67400 Illkirch-Graffenstaden - France
Phone : +(33) 3 88 65 54 32
Contact us
