Visual wheel sinkage measurement for planetary rover mobility characterization

@article{Brooks2006VisualWS,
  title={Visual wheel sinkage measurement for planetary rover mobility characterization},
  author={Christopher A. Brooks and Karl Iagnemma and Steven Dubowsky},
  journal={Auton. Robots},
  year={2006},
  volume={21},
  pages={55-64}
}
Wheel sinkage is an important indicator of mobile robot mobility in natural outdoor terrains. This paper presents a vision-based method to measure the sinkage of a rigid robot wheel in rigid or deformable terrain. The method is based on detecting the difference in intensity between the wheel rim and the terrain. The method uses a single grayscale camera and is computationally efficient, making it suitable for systems with limited computational resources such as planetary rovers. Experimental… CONTINUE READING
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