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

Research output: Chapter in Book/Report/Conference proceedingConference Proceeding (Non-Journal item)

5 Citations (SciVal)

Abstract

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.
Original languageEnglish
Title of host publicationProceedings of SPIE 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques
PublisherSPIE
Volume8301
DOIs
Publication statusPublished - 23 Jan 2012
EventIntelligent Robots and Computer Vision XXIX: Algorithms and Techniques - , United Kingdom of Great Britain and Northern Ireland
Duration: 28 Dec 201128 Dec 2011

Conference

ConferenceIntelligent Robots and Computer Vision XXIX: Algorithms and Techniques
Country/TerritoryUnited Kingdom of Great Britain and Northern Ireland
Period28 Dec 201128 Dec 2011

Keywords

  • 3D-TOF imaging
  • cameras
  • computer hardware
  • computer vision technology
  • image acquisition
  • interfaces
  • Mars
  • robotics
  • sensors
  • vision

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