PRoViScout: a planetary scouting rover demonstrator

Gerahrd Paar, Mark Woods, Christiane Gimkiewicz, Frédéric Labrosse, Alberto Medina, Laurence Tyler, David P. Barnes, Gerald Fritz, Konstantinos Kapellos

Allbwn ymchwil: Pennod mewn Llyfr/Adroddiad/Trafodion CynhadleddTrafodion Cynhadledd (Nid-Cyfnodolyn fathau)


Mobile systems exploring Planetary surfaces in future will require more autonomy than today. The EU FP7-SPACE Project ProViScout (2010-2012) establishes the building blocks of such autonomous exploration systems in terms of robotics vision by a decision-based combination of navigation and scientific target selection, and integrates them into a framework ready for and exposed to field demonstration. The PRoViScout on-board system consists of mission management components such as an Executive, a Mars Mission On-Board Planner and Scheduler, a Science Assessment Module, and Navigation & Vision Processing modules. The platform hardware consists of the rover with the sensors and pointing devices. We report on the major building blocks and their functions & interfaces, emphasizing on the computer vision parts such as image acquisition (using a novel zoomed 3D-Time-of-Flight & RGB camera), mapping from 3D-TOF data, panoramic image & stereo reconstruction, hazard and slope maps, visual odometry and the recognition of potential scientifically interesting targets.
Iaith wreiddiolSaesneg
TeitlProceedings of SPIE 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques
Dynodwyr Gwrthrych Digidol (DOIs)
StatwsCyhoeddwyd - 23 Ion 2012
DigwyddiadIntelligent Robots and Computer Vision XXIX: Algorithms and Techniques - , Teyrnas Unedig Prydain Fawr a Gogledd Iwerddon
Hyd: 28 Rhag 201128 Rhag 2011


CynhadleddIntelligent Robots and Computer Vision XXIX: Algorithms and Techniques
Gwlad/TiriogaethTeyrnas Unedig Prydain Fawr a Gogledd Iwerddon
Cyfnod28 Rhag 201128 Rhag 2011

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