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

doi:10.1117/12.906122

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

Department of Computer Science

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

5 Citations (Scopus)

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 language	English
Title of host publication	Proceedings of SPIE 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques
Publisher	SPIE
Volume	8301
DOIs	https://doi.org/10.1117/12.906122
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

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

Keywords

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

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10.1117/12.906122

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@inproceedings{f16578d84b224393bd6be251f1b36529,

title = "PRoViScout: a planetary scouting rover demonstrator",

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.",

keywords = "3D-TOF imaging, cameras, computer hardware, computer vision technology, image acquisition, interfaces, Mars, robotics, sensors, vision",

author = "Gerahrd Paar and Mark Woods and Christiane Gimkiewicz and Fr{\'e}d{\'e}ric Labrosse and Alberto Medina and Laurence Tyler and Barnes, {David P.} and Gerald Fritz and Konstantinos Kapellos",

year = "2012",

month = jan,

day = "23",

doi = "10.1117/12.906122",

language = "English",

volume = "8301",

booktitle = "Proceedings of SPIE 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques",

publisher = "SPIE",

address = "United States of America",

note = "Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques ; Conference date: 28-12-2011 Through 28-12-2011",

}

Paar, G, Woods, M, Gimkiewicz, C, Labrosse, F, Medina, A, Tyler, L, Barnes, DP, Fritz, G & Kapellos, K 2012, PRoViScout: a planetary scouting rover demonstrator. in Proceedings of SPIE 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques. vol. 8301, 83010A, SPIE, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques, United Kingdom of Great Britain and Northern Ireland, 28 Dec 2011. https://doi.org/10.1117/12.906122

TY - GEN

T1 - PRoViScout: a planetary scouting rover demonstrator

AU - Paar, Gerahrd

AU - Woods, Mark

AU - Gimkiewicz, Christiane

AU - Labrosse, Frédéric

AU - Medina, Alberto

AU - Tyler, Laurence

AU - Barnes, David P.

AU - Fritz, Gerald

AU - Kapellos, Konstantinos

PY - 2012/1/23

Y1 - 2012/1/23

N2 - 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.

AB - 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.

KW - 3D-TOF imaging

KW - cameras

KW - computer hardware

KW - computer vision technology

KW - image acquisition

KW - interfaces

KW - Mars

KW - robotics

KW - sensors

KW - vision

UR - http://hdl.handle.net/2160/14152

U2 - 10.1117/12.906122

DO - 10.1117/12.906122

M3 - Conference Proceeding (Non-Journal item)

VL - 8301

BT - Proceedings of SPIE 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques

PB - SPIE

T2 - Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques

Y2 - 28 December 2011 through 28 December 2011

ER -

PRoViScout: a planetary scouting rover demonstrator

Abstract

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Keywords

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Association of Science and Discovery Centres: Destination Space 2

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PRoViScout: a planetary scouting rover demonstrator

Abstract

Conference

Keywords

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Impacts

Association of Science and Discovery Centres: Destination Space 2

Cite this