Computer Science – Robotics
Scientific paper
Sep 1990
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1990spie.1360.1628w&link_type=abstract
IN: Visual communications and image processing '90; Proceedings of the Meeting, Lausanne, Switzerland, Oct. 1-4, 1990 (A92-42176
Computer Science
Robotics
Autonomous Navigation, Computer Vision, Planetary Surfaces, Roving Vehicles, Telerobotics, Charge Coupled Devices, Lunar Roving Vehicles, Onboard Data Processing, Stereoscopic Vision, Test Stands
Scientific paper
NASA and JPL have developed a testbed 'planetary rover' vehicle with sufficient power supplies, sensors, and computational resources for the demonstration of semiautonomous navigation. Attention is presently given to this vehicle's vision-based navigation techniques. The proposed design and its variants allow advantage to be taken of enormous quantities of both spatial and temporal information that are normally wasted, by sampling very fine detail over the full focal plane area to precisely determine those parts of the image that are accurately at the focus range of the pinhole array used. This should generate accurate and reliable real-time range information in a wide variety of natural scenes, with little or no computation.
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