Science target assessment for Mars rover instrument deployment

Author

Pedersen, Liam

Author_Institution

QSS Group Inc., NASA Ames Res. Center, Moffett Field, CA, USA

Volume

1

fYear

2002

fDate

2002

Firstpage

817

Abstract

This paper introduces the system being developed at NASA Ames Research Center, intended for the Mars ´09 Smart Lander, to robustly place sensors or tools against rocks in a single communications cycle. Science targets must be assessed prior to instrument placement in order to segment them from the background and determine where, if possible, to position the instrument. An initial result of this research effort is a novel Bayesian based method for segmenting rocks from the ground using 3D data.

Keywords

Bayes methods; Mars; aerospace robotics; image segmentation; manipulators; maximum likelihood estimation; planetary rovers; planetary surfaces; stereo image processing; 3D data; Bayesian based method; Mars 09 Smart Lander; Mars rover instrument deployment; NASA Ames Research Center; instrument placement; manipulator mounted instrument; maximum likelihood values; robust sensor placement; rock segmentation; science target assessment; stereo range data; Bayesian methods; Communication system control; Instruments; Mars; NASA; Robustness; Space technology; Spectroscopy; USA Councils; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on

Print_ISBN

0-7803-7398-7

Type

conf

DOI

10.1109/IRDS.2002.1041491

Filename

1041491