Stereo Vision Based Navigation for Sun-Synchronous Exploration - Robotics Institute Carnegie Mellon University

Stereo Vision Based Navigation for Sun-Synchronous Exploration

Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 805 - 810, September, 2002

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.

BibTeX

@conference{Urmson-2002-8534,
author = {Christopher Urmson and M. Bernardine Dias and Reid Simmons},
title = {Stereo Vision Based Navigation for Sun-Synchronous Exploration},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2002},
month = {September},
volume = {1},
pages = {805 - 810},
keywords = {navigation, sun-synchronous, mobile robot, stereo vision},
}