Stereo vision, residual image processing and Mars rover localization

Experiments had been conducted on Mars rover detection and localization using residue image processing and stereo vision. In NASA´s Pathfinder mission, an unmanned lander had been landed on Mars and a microrover was released from the lander to perform scientific experiments. Rover localization is an important issue because, for navigation purpose the rover´s position needs to be continuously updated. Three aspects of the problem have been studied: motion detection, residue image processing, and range estimation. The algorithms are described. Stereo-pairs of images taken at the Jet Propulsion´s Laboratory´s (JPL´s) Mars Test Arena were used to test the algorithms. The results were presented along with analysis of range estimation accuracy