Visual odometry on the Mars Exploration Rovers - A tool to ensure accurate driving and science imaging

被引：97
|
作者：
Cheng, Yang [1 ]
Maimone, Mark W. [1 ]
Matthies, Larry [1 ]
机构：
[1] CALTECH, Jet Prop Lab, Pasadena, CA 91109 USA
来源：
IEEE ROBOTICS & AUTOMATION MAGAZINE | 2006年 / 13卷 / 02期
关键词：
MER; Mars Exploration Rover; visual odometry; motion estimation; egomotion;
D O I：
10.1109/MRA.2006.1638016
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Keeping tack of vehicle's location is one of the most challenging aspects of planetary rover operations such as the Mars Exploration Rover (MER) mission. For MER, a visual odometry system also called ego-motion estimation, proved to be significant. Specifically, the system has been a highly effective tool for maintaining vehicle safety while driving near obstacles on slopes, achieving difficult drive approaches in fewer sols, and ensuring accurate science imaging.
引用
收藏
页码：54 / 62
页数：9
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