The DOI matches its Crossref record.
Path following using visual odometry for a Mars rover in high-slip environments
Abstract
A system for autonomous operation of Mars rovers in high slip environments has been designed, implemented, and tested. This system is composed of several key technologies that enable the rover to accurately follow a designated path, compensate for slippage, and reach intended goals independent of the terrain over which it is traversing (within the mechanical constraints of the mobility system). These technologies include: visual odometry, full vehicle kinematics, a Kalman filter pose estimator, and a slip compensation/path follower. Visual odometry tracks distinctive scene features in stereo imagery to estimate rover motion between successively acquired stereo image pairs using a maximum likelihood motion estimation algorithm. The full vehicle kinematics for a rocker-bogie suspension system estimates motion, with a no-slip assumption, by measuring wheel rates, and rocker, bogie, and steering angles. The Kalman filter merges data from an inertial measurement unit (IMU) and visual odometry. This merged estimate is then compared to the kinematic estimate to determine (taking into account estimate uncertainties) if and how much slippage has occurred. If no statistically significant slippage has occurred then the kinematic estimate is used to complement the Kalman filter estimate. If slippage has occurred then a slip vector is calculated by differencing the current Kalman filter estimate from the kinematic estimate. This slip vector is then used, in conjunction with the inverse ki…
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Rotation error was less than 5.0 deg in each case.
“The rotation error was less than 5.0 deg in each case ( Helmick et al., 2004 ) .”
From Two years of Visual Odometry on the Mars Exploration Rovers (2007) · cites this paper as Helmick et al., 2004
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No references could be resolved yet.
Research works printed but not linked: 19
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- Garvin, Lead Scientist, NASA Mars Exploration Program, personal communication
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Cited by
Sorted by citations
Two years of Visual Odometry on the Mars Exploration Rovers
Maimone, M., Cheng, Y., & Matthies, L. (2007) · Journal of Field Robotics · doi:10.1002/rob.20184 · Cited by 655
Self-citation
Metadata
- Authors
- Helmick, D. M., Cheng, Y., & Roumeliotis, S. I.
- Affiliations
- Jet Propulsion Laboratory (US)
- University of Minnesota (US)
- Venue
- 2004 IEEE Aerospace Conference Proceedings (IEEE Cat. No.04TH8720)
- Publisher
- IEEE
- Published
- 2004-12-23
- Volume
- 2
- Pages
- 772-789
- ISSN
- 1095-323X (ISSN-L)
- OpenAlex
- W2169552307
- Cited by
- 121
- References
- 0
- Citations by year
- 2026: 1 · 2025: 1 · 2024: 3 · 2023: 5 · 2022: 5 · 2021: 7 · 2020: 4 · 2019: 6 · 2018: 6 · 2017: 4 · 2016: 9 · 2015: 9 · 2014: 9 · 2013: 3 · 2012: 5
- FWCI
- 15.27
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- IEEE Aerospace Conference (AERO) (publishedVersion)
- Funders
- Else Kröner-Fresenius-Stiftung
- Jet Propulsion Laboratory
- Topics
- Physical Sciences › Computer Science › Computer Vision and Pattern Recognition › Robotics and Sensor-Based Localization
- Physical Sciences › Engineering › Control and Systems Engineering › Control and Dynamics of Mobile Robots
- Physical Sciences › Engineering › Aerospace Engineering › Inertial Sensor and Navigation
- Keywords
- Mars rover, path following, visual odometry, wheel slip compensation, rocker-bogie suspension, stereo vision, inertial measurement unit fusion, inverse kinematics, autonomous navigation
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