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.
Science Target Assessment for Mars Rover Instrument Deployment
2002 IEEE/RSJ International Conference on Intelligent Robots and Systems ; 2002 ; Switzerland
17.09.2002
Preprint
Keine Angabe
Englisch
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