Optic flow-based navigation system for planetary rovers

Naoto Kobayashi, Mai Bando, Shinji Hokamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a novel optic flow-based navigation system for planetary rovers. Optic flow is a vector field of relative velocities between the camera mounted on a rover and environments, and it is often utilized for motion estimations or relative distance estimations. However, only either one of them can be estimated in general optic flow processing. The method proposed in this paper enables both of the estimations by utilizing an image segmentation technique in computer vision and applying Wide-Field-Integration (WFI) of optic flow for robust estimations. Thus, both obstacle avoidance and avoidance of getting stuck, which are key technologies for planetary exploration rovers, are realized in the method. Furthermore, since the estimation is accomplished in linear processing, a real-time estimation is possible by onboard computers. The effectiveness of the proposed method is examined through numerical simulations, considering sensor noises and the shape of obstacles.

Original languageEnglish
Title of host publication68th International Astronautical Congress, IAC 2017
Subtitle of host publicationUnlocking Imagination, Fostering Innovation and Strengthening Security
PublisherInternational Astronautical Federation, IAF
Pages2839-2847
Number of pages9
ISBN (Print)9781510855373
Publication statusPublished - Jan 1 2017
Event68th International Astronautical Congress: Unlocking Imagination, Fostering Innovation and Strengthening Security, IAC 2017 - Adelaide, Australia
Duration: Sep 25 2017Sep 29 2017

Publication series

NameProceedings of the International Astronautical Congress, IAC
Volume5
ISSN (Print)0074-1795

Other

Other68th International Astronautical Congress: Unlocking Imagination, Fostering Innovation and Strengthening Security, IAC 2017
CountryAustralia
CityAdelaide
Period9/25/179/29/17

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Astronomy and Astrophysics
  • Space and Planetary Science

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  • Cite this

    Kobayashi, N., Bando, M., & Hokamoto, S. (2017). Optic flow-based navigation system for planetary rovers. In 68th International Astronautical Congress, IAC 2017: Unlocking Imagination, Fostering Innovation and Strengthening Security (pp. 2839-2847). (Proceedings of the International Astronautical Congress, IAC; Vol. 5). International Astronautical Federation, IAF.