• Publications
  • Influence
State Estimation for Robotics
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Visual teach and repeat for long-range rover autonomy
This paper describes a system built to enable long-range rover autonomy using a stereo camera as the only sensor. During a learning phase, the system builds a manifold map of overlapping submaps asExpand
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Autonomous underground tramming for center-articulated vehicles
This paper describes the design, implementation, and field testing of an infrastructureless system for autonomous tramming (or hauling) of a center-articulated underground mining vehicle. SuchExpand
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Informed Sampling for Asymptotically Optimal Path Planning
Anytime almost-surely asymptotically optimal planners, such as RRT*, incrementally find paths to every state in the search domain. This is inefficient once an initial solution is found, as then onlyExpand
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Visual odometry aided by a sun sensor and inclinometer
In this paper, we present a novel approach to localization for planetary rovers, in which sun sensor and inclinometer measurements are incorporated directly into a stereo visual odometry pipeline.Expand
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VISUAL MOTION ESTIMATION AND TERRAIN MODELING FOR PLANETARY ROVERS
The next round of planetary missions will require increased autonomy to enable exploration rovers to travel great distances with limited aid from a human operator. For autonomous operations at thisExpand
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DEVELOPMENT OF A DYNAMIC SIMULATION TOOL FOR THE EXOMARS ROVER
Future planetary missions, including the 2011 European Space Agency (ESA) ExoMars mission, will require rovers to travel further, faster, and over more demanding terrain than has been encountered toExpand
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Three-dimensional SLAM for mapping planetary work site environments
In this paper, we present a robust framework suitable for conducting three-dimensional simultaneous localization and mapping (3D SLAM) in a planetary work site environment. Operation in a planetaryExpand
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Long-range rover localization by matching LIDAR scans to orbital elevation maps
Current rover localization techniques such as visual odometry have proven to be very effective on short- to medium-length traverses (e.g., up to a few kilometers). This paper deals with the problemExpand
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Lidar and the mobile Scene Modeler (mSM) as scientific tools for planetary exploration
Abstract With the continued success of the Mars Exploration Rovers and the return of humans to the Moon within the next decade, a considerable amount of research is being done on the technologiesExpand
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