Stereo Vision Based Navigation for Sun-Synchronous Exploration

Christopher Urmson, M Bernardine Dias, and Reid Simmons
Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), September, 2002, pp. 805 - 810.


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Abstract
This paper describes the navigation system used on a prototype sun-synchronous robot. Sun-synchrony is a concept that will enable exploration missions by solar-powered rovers that could last months or years. This paper presents navigation algorithms developed for traversing natural terrain robustly. The novel elements of this work are the refinements necessary to transform laboratory-demonstrated technologies into a form useful for robust, sun-synchronous exploration. Results of a field experiment in the Canadian Arctic, where the robot traversed 6.1km, 90% autonomously, are also presented.

Keywords
navigation, sun-synchronous, mobile robot, stereo vision

Notes
Sponsor: NASA
Grant ID: NAG9-1256
Associated Center(s) / Consortia: Field Robotics Center
Associated Project(s): Sun Synchronous Navigation
Number of pages: 6

Text Reference
Christopher Urmson, M Bernardine Dias, and Reid Simmons, "Stereo Vision Based Navigation for Sun-Synchronous Exploration," Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), September, 2002, pp. 805 - 810.

BibTeX Reference
@inproceedings{Urmson_2002_4038,
   author = "Christopher Urmson and M Bernardine Dias and Reid Simmons",
   title = "Stereo Vision Based Navigation for Sun-Synchronous Exploration",
   booktitle = "Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02)",
   pages = "805 - 810",
   month = "September",
   year = "2002",
   volume = "1",
}