NDLI: Fast optical hazard detection for planetary rovers using multiple spot laser triangulation

Content Provider	IEEE Xplore Digital Library
Author	Matthies, L. Balch, T. Wilcox, B.
Copyright Year	1997
Description	Author affiliation: Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA (Matthies, L.)
Abstract	A new laser-based optical sensor system that provides hazard detection for planetary rovers is presented. The sensor can support safe travel at speeds up to 12 cm/second for large (1 m) rovers in full sunlight on Earth or Mars. This is at least a 5 times improvement over the sensor aboard NASA's Mars Pathfinder rover. The system overcomes limitations in the older design that require image differencing to detect a laser stripe in full sun. The new system ensures the projected laser light is detectable in a single image, eliminating the requirement for additional difference images. The improvement is significant since any reduction in image gathering or processing time provides for faster rover motion. The savings are even more important in the case of a Mars rover since power and radiation-hardening requirements lead to severely constrained computational resources. The paper includes a thorough discussion of design details and tradeoffs for optical hazard sensing that will benefit future efforts in this area.
Starting Page	859
Ending Page	866
File Size	945805
Page Count	8
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.620142
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Hazards Optical detectors Mars Optical sensors Cameras Propulsion Optical design Stereo vision Power system reliability Laboratories
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Fast Optical Hazard Detection for Planetary Rovers using Multiple Spot Laser Triangulation (1997)

Fast Optical Hazard Detection for Planetary Rovers using Multiple Spot Laser Triangulation (1997)

Fast optical hazard detection for planetary rovers using multiple spot laser triangulation. (1997).

Seeing in three dimensions: correlation and triangulation of Mars Exploration Rover imagery

Stereo vision, residual image processing and Mars rover localization

Imaging services flight software on the Mars Exploration Rovers

Stereo vision and shadow analysis for landing hazard detection

3D information retrieval for visual odometry system of planetary exploration rovers - A stereo vision approach

Wide-baseline stereo vision for Mars rovers

Fast optical hazard detection for planetary rovers using multiple spot laser triangulation

Similar Documents

Fast Optical Hazard Detection for Planetary Rovers using Multiple Spot Laser Triangulation (1997)

Fast Optical Hazard Detection for Planetary Rovers using Multiple Spot Laser Triangulation (1997)

Fast optical hazard detection for planetary rovers using multiple spot laser triangulation. (1997).

Seeing in three dimensions: correlation and triangulation of Mars Exploration Rover imagery

Stereo vision, residual image processing and Mars rover localization

Imaging services flight software on the Mars Exploration Rovers

Stereo vision and shadow analysis for landing hazard detection

3D information retrieval for visual odometry system of planetary exploration rovers - A stereo vision approach

Wide-baseline stereo vision for Mars rovers

Fast optical hazard detection for planetary rovers using multiple spot laser triangulation