Graphics enhanced version of this site

Stereo Vision Based Navigation for Sun-Synchronous Exploration
C. Urmson, M.B. Dias, and R. Simmons
Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), Vol. 1, September, 2002, pp. 805 - 810.

Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference

Adobe portable document format (pdf) [1410 KB]

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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.

Sponsor: NASA
Grant ID: NAG9-1256

Associated center: FRC
Associated project: Sun Synchronous Navigation

Number of pages: 6

C. Urmson, M.B. Dias, and R. Simmons, "Stereo Vision Based Navigation for Sun-Synchronous Exploration," Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), Vol. 1, September, 2002, pp. 805 - 810.

@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)",
   month = "September",
   year = "2002",
   volume = "1",
   pages = "805 - 810"
}