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Visual target tracking on the Mars Exploration Rovers

Show simple item record Kim, Won S. Biesiadecki, Jeffrey J. Ali, Khaled S. 2009-07-22T21:09:50Z 2009-07-22T21:09:50Z 2008-02-26
dc.identifier.citation International Symposium on Artificial Intelligence, Robotics and Automation in Space, Los Angeles, California, February 26, 2008. en_US
dc.identifier.clearanceno 07-4146
dc.description.abstract Visual Target Tracking (VTT) has been implemented in the new Mars Exploration Rover (MER) Flight Software (FSW) R9.2 release, which is now running on both Spirit and Opportunity rovers. Applying the normalized cross-correlation (NCC) algorithm with template image magnification and roll compensation on MER Navcam images, VTT tracks the target and enables the rover to approach the target within a few cm over a 10 m traverse. Each VTT update takes 1/2 to 1 minute on the rovers, 2-3 times faster than one Visual Odometry (Visodom) update. VTT is a key element to achieve a target approach and instrument placement over a 10-m run in a single sol in contrast to the original baseline of 3 sols. VTT has been integrated into the MER FSW so that it can operate with any combination of blind driving, Autonomous Navigation (Autonav) with hazard avoidance, and Visodom. VTT can either guide the rover towards the target or simply image the target as the rover drives by. Three recent VTT operational checkouts on Opportunity were all successful, tracking the selected target reliably within a few pixels. en_US
dc.description.sponsorship NASA/JPL en_US
dc.language.iso en_US en_US
dc.publisher Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2008. en_US
dc.subject target approach en_US
dc.subject Mars Exploration Rover en_US
dc.title Visual target tracking on the Mars Exploration Rovers en_US
dc.type Preprint en_US

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