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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)
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)
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)
In 1996, NASA will launch the Mars Pathfinder spacecraft, which will carry an 11 kg rover to explore the immediate vicinity of the lander. To assess the capabilities of the rover, we have constructed a new microrover testbed consisting of the Rocky 3.2 vehicle and an indoor test arena containing Mars analog terrain and overhead cameras for automatic,(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 January, 2004, the Mars Exploration Rover (MER) mission landed two rovers, Spirit and Opportunity, on the surface of Mars. Several autonomous navigation capabilities were employed in space for the first time in this mission. In the Entry, Descent, and Landing (EDL) phase, both landers used a vision system called the Descent Image Motion Estimation System(More)