Preliminary Results on the use of Stereo, Color Cameras and Laser Sensors in Antarctica

Nicolas Vandapel, Stewart Moorehead, William (Red) L. Whittaker, Raja Chatila, and Raphael Murrieta-Cid
International Symposium on Experimental Robotics, March, 1999.


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Abstract
In November of 1998, an expedition from Carnegie Mellon University travelled to the Patriot Hills, Antarctica. The purpose of the expedition was to demonstrate autonomous navigation and robotic classification of meteorites and the characterization of various robotics technologies in a harsh, polar setting. This paper presents early results of experiments performed on this expedition with CCD cameras and laser range finders. It evaluates the ability of these sensors to characterize polar terrain. The effect of weather on this characterization is also analyzed. The paper concludes with a discussion on the suitability of these sensors for Antarctic mobile robots.

Keywords
Stereo, color segmentation, laser, snow, ice, Antarctica

Notes
Associated Center(s) / Consortia: Space Robotics Initiative and Field Robotics Center
Associated Project(s): Robotic Antarctic Meteorite Search
Number of pages: 10

Text Reference
Nicolas Vandapel, Stewart Moorehead, William (Red) L. Whittaker, Raja Chatila, and Raphael Murrieta-Cid, "Preliminary Results on the use of Stereo, Color Cameras and Laser Sensors in Antarctica," International Symposium on Experimental Robotics, March, 1999.

BibTeX Reference
@inproceedings{Moorehead_1999_547,
   author = "Nicolas Vandapel and Stewart Moorehead and William (Red) L. Whittaker and Raja Chatila and Raphael Murrieta-Cid",
   title = "Preliminary Results on the use of Stereo, Color Cameras and Laser Sensors in Antarctica",
   booktitle = "International Symposium on Experimental Robotics",
   month = "March",
   year = "1999",
}