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Improved target handoff for single cycle instrument placement

Show simple item record Madison, Richard 2006-04-12T17:27:25Z 2006-04-12T17:27:25Z 2006-03-04
dc.identifier.citation IEEE Aerospace Conference, Big Sky, Montana, March 4-11, 2006. en
dc.identifier.clearanceno 05-3301
dc.description.abstract Single Cycle Instrument Placement(SCIP)could dramatically increase the speed of various planetary rover operations. JPL is validating SCIP for use on its upcoming Mars Science Laboratory mission. Two major sources of error in the implementation submitted for validation were imprecision in selecting a distant target and error introduced while handing the target off to the rover’s hazard cameras (hazcams). We have added the capability to designate a target using high resolution cameras (pancams) and then hand off to medium resolution cameras (navcams) with little error later in the traverse. We implemented several options for handoff from navcams to hazcams. We evaluated their performance on several test cases. Two methods produced average handoff error of 1 pixel when successful, but these only worked in half of the tests. Two other methods reliably produced about 10 pixels of error. None reliably reach the goal of 1 pixel handoff accuracy. en
dc.description.sponsorship NASA/JPL en
dc.format.extent 1022408 bytes
dc.format.mimetype application/pdf
dc.language.iso en_US en
dc.publisher Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2006. en
dc.subject handoff en
dc.subject single cycle instrument placement en
dc.title Improved target handoff for single cycle instrument placement en
dc.type Preprint en

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