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This paper presents a method for pedestrian detection and tracking using a single night-vision video camera installed on the vehicle. To deal with the nonrigid nature of human appearance on the road, a two-step detection/tracking method is proposed. The detection phase is performed by a support vector machine (SVM) with size-normalized pedestrian candidates(More)
[1] The planned 2003 Mars Exploration Rover (MER) Mission and follow-on surface activities associated with landed missions will focus on long distance roving and sample return, which require detailed knowledge of vehicle locations in both local and global reference systems. In this paper we argue that this rover localization should be known to within 0.1%(More)
In the 2003 Mars Exploration Rover (MER) mission, the twin rovers, Spirit and Opportunity, carry identical Athena instrument payloads and engineering cameras for exploration of the Gusev Crater and Meridiani Planum landing sites. This paper presents the photogrammetric processing techniques for high accuracy topographic mapping and rover localization at the(More)
This paper presents the technology of mapping and rover localization at the two landing sites, Gusev and Meridiani, for the 2003 Mars Exploration Rover (MER) mission. The rover localization and landing site mapping technology is based on the incremental bundle adjustment of an image network formed by Pancam, and Navcam stereo images. The developed(More)
High-precision topographic information from all available data is crucial to many landing site geological and engineering applications. At the same time, precise navigation and localization of the rover as it traverses the Martian surface is important both for its safety and for the achievement of its engineering and scientific objectives. In this paper, we(More)
Our objective is to produce high-accuracy maps of the terrain elevation at landing sites on planetary bodies through the use of all available image data. W e use images on the planetary surface from landers and rovers, images captured during the lander descent to the surface, and orbital images. Three new capabilities have been developed. First, we generate(More)
In Mars exploration missions, high-precision landing-site topographic information is crucial for engineering operations and the achievement of scientific goals. Detailed topographic information of landing sites is usually provided by ground panoramic images acquired by lander or rover stereo cameras. This technology was employed for the 1997 Mars Pathfinder(More)