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.
|Title of host publication||Proceedings of SPIE 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques|
|Publication status||Published - 23 Jan 2012|
|Event||Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques - , United Kingdom of Great Britain and Northern Ireland|
Duration: 28 Dec 2011 → 28 Dec 2011
|Conference||Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques|
|Country/Territory||United Kingdom of Great Britain and Northern Ireland|
|Period||28 Dec 2011 → 28 Dec 2011|
- 3D-TOF imaging
- computer hardware
- computer vision technology
- image acquisition
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Association of Science and Discovery Centres: Destination Space 2
Helen Miles (Researcher) & Matt Gunn (Researcher)
Impact: Public understanding, information and debate