A physical approach to color image understanding
International Journal of Computer Vision
Surface Reflection: Physical and Geometrical Perspectives
IEEE Transactions on Pattern Analysis and Machine Intelligence
Shape and motion from image streams under orthography: a factorization method
International Journal of Computer Vision
Stereo vision for planetary rovers: stochastic modeling to near real-time implementation
International Journal of Computer Vision
Perception, planning, and control for autonomous walking with the Ambler planetary rover
International Journal of Robotics Research
Real-Time Correlation-Based Stereo Vision with Reduced Border Errors
International Journal of Computer Vision
Introduction to the Special Issue on Physical Modeling in Computer Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
IEEE Transactions on Pattern Analysis and Machine Intelligence
Toward autonomous driving: the CMU Navlab. Part I - Perception
IEEE Expert: Intelligent Systems and Their Applications
Toward autonomous driving: the CMU Navlab. Part II - Architecture and Systems
IEEE Expert: Intelligent Systems and Their Applications
Rapidly Adapting Machine Vision for Automated Vehicle Steering
IEEE Expert: Intelligent Systems and Their Applications
Symmetric Sub-Pixel Stereo Matching
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part II
Error Analysis of a Real-Time Stereo System
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
A Stereo Machine for Video-Rate Dense Depth Mapping and Its New Applications
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
Electronically directed "focal" stereo
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Modelling the environment of an exploring vehicle by means of stereo vision
Modelling the environment of an exploring vehicle by means of stereo vision
Obstacle avoidance and navigation in the real world by a seeing robot rover
Obstacle avoidance and navigation in the real world by a seeing robot rover
The Mars Exploration Rovers Descent Image Motion Estimation System
IEEE Intelligent Systems
Enhanced Real-time Stereo Using Bilateral Filtering
3DPVT '04 Proceedings of the 3D Data Processing, Visualization, and Transmission, 2nd International Symposium
A Statistical Approach to Texture Classification from Single Images
International Journal of Computer Vision - Special Issue on Texture Analysis and Synthesis
Tyzx DeepSea High Speed Stereo Vision System
CVPRW '04 Proceedings of the 2004 Conference on Computer Vision and Pattern Recognition Workshop (CVPRW'04) Volume 3 - Volume 03
MER-DIMES: A Planetary Landing Application of Computer Vision
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
A Real-Time Large Disparity Range Stereo-System using FPGAs
ICVS '06 Proceedings of the Fourth IEEE International Conference on Computer Vision Systems
Incremental Online Learning in High Dimensions
Neural Computation
Constructive Incremental Learning from Only Local Information
Neural Computation
The DARPA PerceptOR evaluation experiments
Autonomous Robots
Design Through Operation of an Image-Based Velocity Estimation System for Mars Landing
International Journal of Computer Vision
Online terrain parameter estimation for wheeled mobile robots with application to planetary rovers
IEEE Transactions on Robotics
Evaluating the Quality of Open Source Software
Electronic Notes in Theoretical Computer Science (ENTCS)
Flexible hardware-based stereo matching
EURASIP Journal on Embedded Systems - Special issue on design and architectures for signal and image processing
A Vision System of Hazard Cameras for Lunar Rover BH2
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
Practical visual odometry for car-like vehicles
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Resolving stereo matching errors due to repetitive structures using model information
Pattern Recognition Letters
Accurate hardware-based stereo vision
Computer Vision and Image Understanding
Field Testing of an Integrated Surface/Subsurface Modeling Technique for Planetary Exploration
International Journal of Robotics Research
Robotics and Autonomous Systems
Efficient normalized cross correlation calculation method for stereo vision based robot navigation
Frontiers of Computer Science in China
Stereo matching using weighted dynamic programming on a single-direction four-connected tree
Computer Vision and Image Understanding
Field testing of visual odometry aided by a sun sensor and inclinometer
Journal of Field Robotics
Communications of the ACM
Hardware Acceleration for Neuromorphic Vision Algorithms
Journal of Signal Processing Systems
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Increasing the level of spacecraft autonomy is essential for broadening the reach of solar system exploration. Computer vision has and will continue to play an important role in increasing autonomy of both spacecraft and Earth-based robotic vehicles. This article addresses progress on computer vision for planetary rovers and landers and has four main parts. First, we review major milestones in the development of computer vision for robotic vehicles over the last four decades. Since research on applications for Earth and space has often been closely intertwined, the review includes elements of both. Second, we summarize the design and performance of computer vision algorithms used on Mars in the NASA/JPL Mars Exploration Rover (MER) mission, which was a major step forward in the use of computer vision in space. These algorithms did stereo vision and visual odometry for rover navigation and feature tracking for horizontal velocity estimation for the landers. Third, we summarize ongoing research to improve vision systems for planetary rovers, which includes various aspects of noise reduction, FPGA implementation, and vision-based slip perception. Finally, we briefly survey other opportunities for computer vision to impact rovers, landers, and orbiters in future solar system exploration missions.