Autonomous Detection of Novel Biologic and Geologic Features in Atacama Desert Rover Imagery

David R. Thompson, Trey Smith, and David Wettergreen
Proc. of the Lunar and Planetary Science Conference, March, 2006.


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Abstract
We investigate context-sensitive models for rover onboard data analysis. These ?cience maps?consider not only raw rover sensor data but also the sampling location. They improve onboard data understanding by revealing environmental trends and boundaries that can inform autonomous sampling and data return decisions. They also help identify novel features by highlighting anomalies that are unexpected in context of the local environment. In this work, tests with navigation imagery suggest that context-sensitive data analysis using a Hidden Markov Model offers performance benefits for novelty detection during rover traverse.

Keywords
science autonomy, image processing, hidden Markov models

Notes
Associated Center(s) / Consortia: Field Robotics Center
Associated Project(s): Science Autonomy

Text Reference
David R. Thompson, Trey Smith, and David Wettergreen, "Autonomous Detection of Novel Biologic and Geologic Features in Atacama Desert Rover Imagery," Proc. of the Lunar and Planetary Science Conference, March, 2006.

BibTeX Reference
@inproceedings{Thompson_2006_5308,
   author = "David R Thompson and Trey Smith and David Wettergreen",
   title = "Autonomous Detection of Novel Biologic and Geologic Features in Atacama Desert Rover Imagery",
   booktitle = "Proc. of the Lunar and Planetary Science Conference",
   month = "March",
   year = "2006",
}