Computer Modelling: A Structured Light Vision System For A Mars Rover

John J. Nitao; Donald H. Cronquist Jr.

doi:10.1117/12.969880

1 March 1990 Computer Modelling: A Structured Light Vision System For A Mars Rover

John J. Nitao, Donald H. Cronquist Jr.

Proceedings Volume 1195, Mobile Robots IV; (1990) https://doi.org/10.1117/12.969880
Event: 1989 Symposium on Visual Communications, Image Processing, and Intelligent Robotics Systems, 1989, Philadelphia, PA, United States

Abstract

A computer model has been developed as a tool for evaluating the use of structured light systems for local navigation of the Mars Rover. The system modeled consists of two laser sources emanating flat, widened beams with a single camera to detect stripes on the terrain. The terrain elevation extracted from the stripe information goes to updating a local terrain map which is processed to determine impassable regions. The system operates with the beams and cameras fixed except, now and then, the beams are vertically panned to completely refresh the local map. An efficient surface removal algorithm determines the points on the terrain surface hit by rays in the bundle. The power of each reflected ray that falls on each pixel of the camera is computed using well-known optical laws.

Citation Download Citation

John J. Nitao and Donald H. Cronquist Jr. "Computer Modelling: A Structured Light Vision System For A Mars Rover", Proc. SPIE 1195, Mobile Robots IV, (1 March 1990); https://doi.org/10.1117/12.969880

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