Title :
Science target assessment for Mars rover instrument deployment
Author_Institution :
QSS Group Inc., NASA Ames Res. Center, Moffett Field, CA, USA
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;
Conference_Titel :
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7398-7
DOI :
10.1109/IRDS.2002.1041491
