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Autonomy for Mars Rovers: Past, Present, and Future
The vehicles used to explore the Martian surface require a high degree of autonomy to navigate challenging and unknown terrain, investigate targets, and detect scientific events. Expand
A novel tiered sensor fusion approach for terrain characterization and safe landing assessment
This paper presents a novel, tiered sensor fusion methodology for real-time terrain safety assessment. A combination of active and passive sensors, specifically, radar, lidar, and camera, operate inExpand
Autonomous off-road navigation with end-to-end learning for the LAGR program
We describe a fully integrated real-time system for autonomous off-road navigation that uses end-to-end learning from onboard proprioceptive sensors, operator input, and stereo cameras to adapt to local terrain and extend terrain classification into the far field to avoid myopic behavior. Expand
CLARAty: an architecture for reusable robotic software
The Coupled Layered Architecture for Robotic Autonomy (CLARAty) is a domain-specific robotic architecture designed with four main objectives: (i) to reduce the need to develop custom robotic infrastructure for every research effort, (ii) to simplify the integration of new technologies onto existing systems, (iii) to tightly couple declarative and procedural-based algorithms. Expand
Unmanned ground vehicle perception using thermal infrared cameras
The ability to perform off-road autonomous navigation at any time of day or night is a requirement for some unmanned ground vehicle (UGV) programs. Expand
A Fast Stereo-based System for Detecting and Tracking Pedestrians from a Moving Vehicle
In this paper we describe a fully integrated system for detecting, localizing, and tracking pedestrians from a moving vehicle. Expand
Visually Realistic Mapping of a Planar Environment with Stereo
We present a hybrid technique for constructing geometrically accurate, visually realistic planar environments from stereo vision information. Expand
Results from a Real-time Stereo-based Pedestrian Detection System on a Moving Vehicle
This paper describes performance results from a real-time system for detecting, localizing, and tracking pedes- trians from a moving vehicle. The end-to-end system runs at 5Hz on 1024x768 imageryExpand
Real-time pose estimation of a dynamic quadruped in GPS-denied environments for 24-hour operation
We present a real-time system that enables a highly capable dynamic quadruped robot to maintain an accurate six-degree-of-freedom pose estimate (within a 1.0% error of distance traveled) over long distances traversed through complex, dynamic outdoor terrain, during day and night, in the presence of camera occlusion and saturation. Expand
Targeted driving using visual tracking on Mars: From research to flight
This paper presents the development, validation, and deployment of the visual target tracking capability onto the Mars Exploration Rover (MER) mission. Expand