PRoViScout: a planetary scouting rover demonstrator

Gerhard Paar; Mark Woods; Christiane Gimkiewicz; Frédéric Labrosse; Alberto Medina; Laurence Tyler; David P. Barnes; Gerald Fritz; Konstantinos Kapellos

doi:10.1117/12.906122

23 January 2012 PRoViScout: a planetary scouting rover demonstrator

Gerhard Paar, Mark Woods, Christiane Gimkiewicz, Frédéric Labrosse, Alberto Medina, Laurence Tyler, David P. Barnes, Gerald Fritz, Konstantinos Kapellos

Author Affiliations +

Proceedings Volume 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques; 83010A (2012) https://doi.org/10.1117/12.906122
Event: IS&T/SPIE Electronic Imaging, 2012, Burlingame, California, United States

Abstract

Mobile systems exploring Planetary surfaces in future will require more autonomy than today. The EU FP7-SPACE Project ProViScout (2010-2012) establishes the building blocks of such autonomous exploration systems in terms of robotics vision by a decision-based combination of navigation and scientific target selection, and integrates them into a framework ready for and exposed to field demonstration. The PRoViScout on-board system consists of mission management components such as an Executive, a Mars Mission On-Board Planner and Scheduler, a Science Assessment Module, and Navigation & Vision Processing modules. The platform hardware consists of the rover with the sensors and pointing devices. We report on the major building blocks and their functions & interfaces, emphasizing on the computer vision parts such as image acquisition (using a novel zoomed 3D-Time-of-Flight & RGB camera), mapping from 3D-TOF data, panoramic image & stereo reconstruction, hazard and slope maps, visual odometry and the recognition of potential scientifically interesting targets.

Citation Download Citation

Gerhard Paar, Mark Woods, Christiane Gimkiewicz, Frédéric Labrosse, Alberto Medina, Laurence Tyler, David P. Barnes, Gerald Fritz, and Konstantinos Kapellos "PRoViScout: a planetary scouting rover demonstrator", Proc. SPIE 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques, 83010A (23 January 2012); https://doi.org/10.1117/12.906122

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