Learn More
Autonomous navigation in crosscountry environments presents many new challenges with respect to more traditional, urban environments. The lack of highly structured components in the scene complicates the design of even basic functionalities such as obstacle detection. In addition to the geometric description of the scene, terrain typing is also an important(More)
NASA's two Mars Exploration Rovers (MER) have successfully demonstrated a robotic Visual Odometry capability on another world for the first time. This provides each rover with accurate knowledge of its position, which allows it to autonomously detect and compensate for any unforeseen slip encountered during a drive. It has enabled the rovers to drive safely(More)
Using known camera motion to estimate depth from image sequences is an important problem in robot vision. Many applications of depth-from-motion, including navigation and manipulation, require algorithms that can estimate depth in an on-line, incremental fashion. This requires a representation that records the uncertainty in depth estimates and a mechanism(More)
Robust navigation for mobile robots over long distances requires an accurate method for tracking the robot position in the environment. Promising techniques for position estimation by determining the camera ego-motion from monocular or stereo sequences have been previously described. However, long-distance navigation requires both a high level of robustness(More)
— An architecture for autonomous operation of Mars rovers in high slip environments has been designed, implemented, and tested. This architecture is composed of several key technologies that enable the rover to accurately follow a designated path, compensate for slippage, and reach intended goals independent of the terrain over which it is traversing(More)
Statistical modeling and evaluation of the performance of obstacle detection systems for Unmanned Ground Vehicles (UGV's) is essential for the design, evaluation, and comparison of sensor systems. In this report, we address this issue for imaging range sensors by dividing the evaluation problem into two levels: quality of the range data itself and quality(More)
—In this paper, we present the analysis and experimental validation of a vision-aided inertial navigation algorithm for planetary landing applications. The system employs tight integration of inertial and visual feature measurements to compute accurate estimates of the lander's terrain-relative position, attitude, and velocity in real time. Two types of(More)
We are concerned here with improving long range stereo by filtering image sequences. Traditionally, measurement errors from stereo camera systems have been approximated as 3-D Gaussians, where the mean is derived by triangulation and the covariance by linearized error propagation. However, there are two problems that arise when filtering such 3-D(More)
Autonomous off-road navigation is central to several important applications of unmanned ground vehicles. This requires the ability to detect obstacles in vegetation. We examine the prospects for doing so with scanning ladar and with a linear array of 2.2 GHz micro-impulse radar transceivers. For ladar, we summarize our work to date on algorithms for(More)