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Carnegie Mellon Robotics Institute

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Abstract

In this paper, we describe how passive vision can be used to improve far-field navigation of planetary rovers, especially for detecting negative obstacles such as cliff edges, ditches, and escarpments. Far-field navigation fills the gap between close-up sensing for obstacle avoidance and satellite imagery. In particular, we can identify dangerous and/or interesting areas in distant terrain by processing color camera images.

Keywords

computer vision, navigation, mobile robots

Notes

Text Reference

Alec Avedisyan, David Wettergreen, Terrence W. Fong, and Charles Baur, "Far-field terrain evaluation using geometric and toposemantic vision," Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA), November, 2004.

BibTeX Reference

@inproceedings{Avedisyan_2004_4740,
   author = "Alec Avedisyan and David Wettergreen and Terrence W Fong and Charles Baur",
   title = "Far-field terrain evaluation using geometric and toposemantic vision",
   booktitle = "Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA)",
   publisher = "ESA",
   month = "November",
   year = "2004",
}

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