Visual Odometry for a Hopping Rover on an Asteroid Surface using Multiple Monocular Cameras

$61.74 plus tax (Refund Policy)

Buy Article:

Abstract:

Visual odometry refers to the use of images to estimate the motion of a mobile robot. Real-time systems have already been demonstrated for terrestrial robotic vehicles, while a near real-time system has been successfully used on the Mars Exploration Rovers for planetary exploration. In this paper, we adapt this method to estimate the motion of a hopping rover on an asteroid surface. Due to the limited stereo depth resolution and the continuous rotational motion on a hopping rover, we propose to use a system of multiple monocular cameras. We describe how the scale of the scene observed by different cameras without overlapping views can be transferred between the cameras, allowing us to reconstruct a single continuous trajectory from multiple image sequences. We describe the implementation of our algorithm and its performance under simulation using rendered images.

Keywords: HOPPING ROVER; MOTION ESTIMATION; RELATIVE LOCALIZATION; VISUAL ODOMETRY

Document Type: Research Article

DOI: http://dx.doi.org/10.1163/016918611X563355

Affiliations: 1: Department of Space and Astronautical Science, Graduate University for Advanced Studies, 3-1-1 Yoshinodai, Chuo-ku, Sagamihara-shi, Kanagawa-ken 252-5210, Japan;, Email: edmond@nnl.isas.jaxa.jp 2: Japan Aerospace Exploration Agency, Institute of Space and Astronautical Science, 3-1-1 Yoshinodai, Chuo-ku, Sagamihara-shi, Kanagawa-ken 252-5210, Japan

Publication date: January 1, 2011

Related content

Share Content

Access Key

Free Content
Free content
New Content
New content
Open Access Content
Open access content
Subscribed Content
Subscribed content
Free Trial Content
Free trial content
Cookie Policy
X
Cookie Policy
ingentaconnect website makes use of cookies so as to keep track of data that you have filled in. I am Happy with this Find out more