A computer model hs been developed as a tool for evaluating the use of structured light systems for local navigation of the Mars Rover. The system modeled consists of two laser sources emanating flat, widened beams with a single camera to detect stripes on the terrain. The terrain elevation extracted from the stripe information goes to updating a local terrain map which is processed to determine impassable regions. The system operates with the beams and cameras fixed except, now and then, the beams are vertically panned to completely refresh the local map. An efficient surface removal algorithm determines the points on the terrain surface hit by rays in the bundle. The power of each reflected ray that falls on each pixel of the camera is computed using well-known optical laws.
Computer modelling: a structured light vision system for a Mars rover
Rechner-Modellierung: ein strukturiertes Licht-Sichtsystem für einen Mars-Rover
Proceedings of SPIE, Mobile Robots IV ; 1195 ; 168-177
1990
10 Seiten, 16 Bilder, 3 Quellen
Conference paper
English
Mars 96 rover: technical vision and navigation
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