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Abstract

This paper describes the development and implementation of a Bayes network based system for distinguishing terrestrial rocks from meteorites from onboard the mobile robotic rover Nomad. Equipped with a color camera and spectrometer, Nomad autonomously made the first robotic identification of a meteorite, in January 2000 at the Elephant Moraine, Antarctica. This paper discusses rock classification from a robotic platform and the challenges of autonomously obtaining good sensor data in the field, while focusing on Nomad implementation.

Notes

Associated Center(s) / Consortia: Field Robotics Center

Number of pages: 8

Text Reference

Liam Pedersen, Michael D. Wagner, Dimitrios (Dimi) Apostolopoulos, and William (Red) L. Whittaker, "Autonomous Robotic Meteorite Identification in Antarctica," 2001 IEEE International Conference on Robotics and Automation, May, 2001, pp. 4158-4165.

BibTeX Reference

@inproceedings{Pedersen_2001_3741,
   author = "Liam Pedersen and Michael D Wagner and Dimitrios (Dimi) Apostolopoulos and William (Red) L. Whittaker",
   title = "Autonomous Robotic Meteorite Identification in Antarctica",
   booktitle = "2001 IEEE International Conference on Robotics and Automation",
   pages = "4158-4165",
   month = "May",
   year = "2001",
}

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