2P2-A23 Study on Autonomous Traverse of Exploration Rovers based on Images
Noriaki Mizukami, Tetsuo Yoshimitsu, Takashi Kubota · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2008
Many space missions are being undertaken to improve our understanding of the solar system and how to use space resources. Nowadays, since MER's success, exploration of planetary surfaces is being focused on. Rovers have the capability of reaching important scientific areas on planetary surfaces. Rovers traverse unknown environments in limited missions. Therefore, rovers are expected to have the ability to explore as widely as possible and to navigate themselves efficiently. The conventional navigation systems based on stereo vision or laser range finder are not wide enough to obtain distant area environment information. Since understanding wide environment makes rover navigation more efficient, detailed terrain maps are not necessarily required. This paper proposes an efficient image- based navigation by a single camera.