Field Testing of an Integrated Surface/Subsurface Modeling Technique for Planetary Exploration

  • Authors:

  • Paul Furgale;Timothy D Barfoot;Nadeem Ghafoor;Kevin Williams;Gordon Osinski

  • Affiliations:

  • University of Toronto, Institute of Aerospace Studies, Toronto, Canada,;University of Toronto, Institute of Aerospace Studies, Toronto, Canada;MDA Space Missions, Brampton, Canada;Buffalo State College, Department of Earth Sciences, Buffalo, NY, USA;University of Western Ontario, Departments of Earth Science, Physics and Astronomy, London, Canada

  • Venue:
  • International Journal of Robotics Research
  • Year:
  • 2010

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Abstract

While there has been much interest in developing ground-penetrating radar (GPR) technology for rover-based planetary exploration, relatively little work has been done on the data collection process. Starting from the manual method, we fully automate GPR data collection using only sensors typically found on a rover. Further, we produce two novel data products: (1) a three-dimensional, photorealistic surface model coupled with a ribbon of GPR data, and (2) a two-dimensional, topography-corrected GPR radargram with the surface topography plotted above. Each result is derived from only the onboard sensors of the rover, as would be required in a planetary exploration setting. These techniques were tested using data collected in a Mars analogue environment on Devon Island in the Canadian High Arctic. GPR transects were gathered over polygonal patterned ground similar to that seen on Mars by the Phoenix Lander. Using the techniques developed here, scientists may remotely explore the interaction of the surface topography and subsurface structure as if they were on site.