Optic flow-based navigation system for planetary rovers

Naoto Kobayashi, Mai Bando, Shinji Hokamoto

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

抄録

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.

本文言語英語
ホスト出版物のタイトル68th International Astronautical Congress, IAC 2017
ホスト出版物のサブタイトルUnlocking Imagination, Fostering Innovation and Strengthening Security
出版社International Astronautical Federation, IAF
ページ2839-2847
ページ数9
ISBN(印刷版)9781510855373
出版ステータス出版済み - 1 1 2017
イベント68th International Astronautical Congress: Unlocking Imagination, Fostering Innovation and Strengthening Security, IAC 2017 - Adelaide, オーストラリア
継続期間: 9 25 20179 29 2017

出版物シリーズ

名前Proceedings of the International Astronautical Congress, IAC
5
ISSN(印刷版)0074-1795

その他

その他68th International Astronautical Congress: Unlocking Imagination, Fostering Innovation and Strengthening Security, IAC 2017
国/地域オーストラリア
CityAdelaide
Period9/25/179/29/17

All Science Journal Classification (ASJC) codes

  • 航空宇宙工学
  • 天文学と天体物理学
  • 宇宙惑星科学

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