Supervisory control of a class of discrete event processes
SIAM Journal on Control and Optimization
Bundle Adjustment - A Modern Synthesis
ICCV '99 Proceedings of the International Workshop on Vision Algorithms: Theory and Practice
Autonomous Rover Navigation on Unknown Terrains Functions and Integration
ISER '00 Experimental Robotics VII
Object Recognition from Local Scale-Invariant Features
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
A Comparison of Affine Region Detectors
International Journal of Computer Vision
Efficient Maximally Stable Extremal Region (MSER) Tracking
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Two years of Visual Odometry on the Mars Exploration Rovers: Field Reports
Journal of Field Robotics - Special Issue on Space Robotics
The focussed D* algorithm for real-time replanning
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
Vast-scale Outdoor Navigation Using Adaptive Relative Bundle Adjustment
International Journal of Robotics Research
Rough Terrain Reconstruction for Rover Motion Planning
CRV '10 Proceedings of the 2010 Canadian Conference on Computer and Robot Vision
Visual teach and repeat for long-range rover autonomy
Journal of Field Robotics - Visual Mapping and Navigation Outdoors
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This paper presents the Mojave Desert field test results of planetary rover visual motion estimation (VME) developed under the “Autonomous, Intelligent, and Robust Guidance, Navigation, and Control for Planetary Rovers (AIR-GNC)” project. Three VME schemes are compared in realistic conditions. The main innovations of this project include the use of different features from stereo-pair images as visual landmarks and the use of vision-based feedback to close the path-tracking loop. The multiweek field campaign, conducted on relevant Mars analogue terrains, under dramatically changing lighting and weather conditions, shows good localization accuracy on the average. Moreover, the MDA-developed inertial measurement unit (IMU)-corrected odometry was reliable and had good accuracy at all test locations, including loose sand dunes. These results are based on data collected during 7.3 km of traverse, including both fully autonomous and joystick-driven runs. © 2012 Wiley Periodicals, Inc. © 2012 Wiley Periodicals, Inc.