Sebastien Gemme

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The success of NASA's Mars Exploration Rovers has demonstrated the important benefits that mobility adds to planetary exploration. Very soon, mission requirements will impose that planetary exploration rovers drive autonomously in unknown terrain. This will require an evolution of the methods and technologies currently used. This paper presents our approach(More)
The registration of 3D points clouds is an important and challenging task in computer vision. In this paper we consider the problem of localizing a rover through 3D terrain registration in a natural environment. Two different local feature-based 3D terrain registration approaches are investigated: spin-image matching and point fingerprint matching. To(More)
In this paper we present our approach to 3D surface reconstruction from large sparse range data sets. In space robotics constructing an accurate model of the environment is very important for a variety of reasons. In particular, the constructed model can be used for: safe tele-operation, path planning, planetary exploration and mapping of points of(More)
The success of NASA's Mars Exploration Rovers has demonstrated the important benefits that mobility adds to planetary exploration. With ExoMars and the Mars Science Laboratory missions, mobility will play an ever-increasing role. Very soon, mission requirements will impose that planetary exploration rovers drive over-the-horizon in a single command cycle.(More)
In this paper we consider the problem of constructing a 3D environment model for the tele-operation of a planetary rover. We presented our approach to 3D environment reconstruction from large sparse range data sets. In space robotics applications, an accurate and up-to-date model of the environment is very important for a variety of reasons. In particular,(More)
The Canadian Space Agency (CSA) Mobile Robotics Test-bed (MRT) underwent a major redesign during the Winter 2009. This paper reports on the mechatronics design of the rover. Two rugged laptops are integrated onto the redesigned rover along with an infrared camera and three network devices. A custom-made mechanism is developed in order to move out of the(More)
CSA (Canadian Space Agency) is currently developing and conducting a series of experiments dubbed Avatar to investigate different command and control schemes allowing operators to interact with robots in space or on other planets. The objective of the Avatar experiments is to develop and test concepts in support of future space exploration missions.(More)
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