One goal for future Mars missions is to navigate a rover to science targets not visible to the rover, but seen in orbital or descent images. In order to support and improve long-range navigation capabilities, we generate 3D terrain maps using all available images, including surface images from the lander and/or rover, descent images from the lander, and orbital images from current and future Mars orbiters. The techniques used include wide-baseline stereo mapping for terrain distant from the rover, bundle adjustment for high-accuracy mapping of surface images, and structure-from-motion techniques for mapping using descent and orbital images. The terrain maps are compiled using a system for unifying multi-resolution models and integrating three-dimensional terrains.


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    Title :

    Visual terrain mapping for Mars exploration


    Contributors:
    Olson, C.F. (author) / Matthies, L.H. (author) / Wright, J.R. (author) / Li, R. (author) / Di, K. (author)


    Publication date :

    2004-01-01


    Size :

    1219177 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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