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

被引：98

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

页码：54 / 62

页数：9

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