NDLI: Design Through Operation of an Image-Based Velocity Estimation System for Mars Landing

Content Provider	Springer Nature Link
Author	Johnson, Andrew Willson, Reg Cheng, Yang Goguen, Jay Leger, Chris Sanmartin, Miguel Matthies, Larry
Copyright Year	2007
Abstract	During the Mars Exploration Rover (MER) landings, the Descent Image Motion Estimation System (DIMES) was used for horizontal velocity estimation. The DIMES algorithm combined measurements from a descent camera, a radar altimeter, and an inertial measurement unit. To deal with large changes in scale and orientation between descent images, the algorithm used altitude and attitude measurements to rectify images to a level ground plane. Feature selection and tracking were employed in the rectified images to compute the horizontal motion between images. Differences of consecutive motion estimates were then compared to inertial measurements to verify correct feature tracking. DIMES combined sensor data from multiple sources in a novel way to create a low-cost, robust, and computationally efficient velocity estimation solution, and DIMES was the first robotics vision system used to control a spacecraft during planetary landing. This paper presents the design and implementation of the DIMES algorithm, the assessment of the algorithm performance using a high fidelity Monte Carlo simulation, validation of performance using field test data and the detailed results from the two landings on Mars.DIMES was used successfully during both MER landings. In the case of Spirit, had DIMES not been used onboard, the total velocity would have been at the limits of the airbag capability. Fortunately, DIMES computed the actual steady state horizontal velocity and it was used by the thruster firing logic to reduce the total velocity prior to landing. For Opportunity, DIMES computed the correct velocity, and the velocity was small enough that the lander performed no action to remove it.
Starting Page	319
Ending Page	341
Page Count	23
File Format	PDF
ISSN	09205691
Journal	International Journal of Computer Vision
Volume Number	74
Issue Number	3
e-ISSN	15731405
Language	English
Publisher	Kluwer Academic Publishers-Plenum Publishers
Publisher Date	2007-01-17
Publisher Place	New York
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	velocity estimation feature tracking computer vision robotics Mars lander Mars Exploration Rover DIMES Pattern Recognition Image Processing and Computer Vision Artificial Intelligence (incl. Robotics) Computer Imaging, Vision, Pattern Recognition and Graphics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Computer Vision and Pattern Recognition Software

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

Computer Vision on Mars

Particle Video: Long-Range Motion Estimation Using Point Trajectories

Real-Time Facial Feature Tracking on a Mobile Device

Recognition, Tracking, and Optimisation

Algorithmic Fusion for More Robust Feature Tracking

3D Target Scale Estimation and Target Feature Separation for Size Preserving Tracking in PTZ Video

Visual Focus of Attention in Non-calibrated Environments using Gaze Estimation

Velocity-Guided Tracking of Deformable Contours in Three Dimensional Space

Feature-Based Image Analysis

Design Through Operation of an Image-Based Velocity Estimation System for Mars Landing

Similar Documents

Computer Vision on Mars

Particle Video: Long-Range Motion Estimation Using Point Trajectories

Real-Time Facial Feature Tracking on a Mobile Device

Recognition, Tracking, and Optimisation

Algorithmic Fusion for More Robust Feature Tracking

3D Target Scale Estimation and Target Feature Separation for Size Preserving Tracking in PTZ Video

Visual Focus of Attention in Non-calibrated Environments using Gaze Estimation

Velocity-Guided Tracking of Deformable Contours in Three Dimensional Space

Feature-Based Image Analysis

Design Through Operation of an Image-Based Velocity Estimation System for Mars Landing