Detection of Novel Features and Collection of Opportunistic Science Data with an Onboard Autonomous Rover Science System

Details Detection of Novel Features and Collection of Opportunistic Science Data with an Onboard Autonomous Rover Science System Detection of Novel Features and Collection of Opportunistic Science Data with an Onboard Autonomous Rover Science System

Dec 2007

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2007agufm.p53a1001c&link_type=abstract

American Geophysical Union, Fall Meeting 2007, abstract #P53A-1001

Mathematics

Logic

0520 Data Analysis: Algorithms And Implementation, 6225 Mars

Scientific paper

The Onboard Autonomous Science Investigation System (OASIS) evaluates science data gathered by a planetary rover. This analysis is used to prioritize the data for transmission, so that the data with the highest science value is transmitted to Earth. In addition, the onboard analysis results are used to identify science opportunities. A planning and scheduling component of the system enables the rover to take advantage of identified science opportunities. We present new system capabilities with an emphasis on the identification of novel geologic features during a traverse. The ability to detect novel features enables the rover to identify rocks that exhibit distinct properties from those in the vicinity, e.g. unusual albedo or orientation. This capability has been integrated into the full system and validated in field testing. In addition, the system has been integrated with the Visual Target Tracking (VTT) capability recently uploaded to the Mars Exploration Rovers. VTT enables the system to robustly track a specified target, typically a rock. By integrating this with the autonomous science system, the rover can approach targets identified onboard, and then acquire targeted measurements both from additional viewing angles as well as from positions in close proximity to the target.

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