Change search
ReferencesLink to record
Permanent link

Direct link
Vision-Based Rover Navigation Demonstrator
2011 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

This work is part of the preliminary stages of the PRoViScout project. PRoViScout is a collaboration of the major European groups in the field of robotic exploration, with the aim to further the autonomous capabilities of planetary exploration rovers. The following Master Thesis report describes the creation, functionality and results of a vision-based rover navigation demonstrator, designed to practically test the current sensors onboard the PRoViScout rover in a navigation scenario. The work has a focus on implementing the novel 3D time of flight sensor into the vision system but also describes the continued integration of a stereo camera pair, based on earlier work done by the hosting institute Joanneum Research. For comparison the report gives a description of the vision and navigation systems of the only practically implemented and successful planetary rovers; Sojourner, Spirit and Opportunity. A collective description is also given on the experiences gained from various projects implementing a 3D time of flight sensor.The methods and tools developed by the host institution are described, as well as the newly developed methods during this work, primarily aimed toward the implementation of a 3D time of flight sensor and navigation functionality. The components developed in this work consist mainly of sensor interfaces, mapping of sensor data into digital elevation maps and a navigation application making use of these tools. The results from the components are shown and analyzed to derive various strengths and weaknesses. A discussion on the characteristics of the system is given as a basis for a conclusion.The results show a functional prototype, suitable for the purpose of acting as a vision-based rover navigation demonstrator. Some of the improvements required to advance to the stage of a robust end-system, usable for planetary missions, are noted.

Place, publisher, year, edition, pages
2011. , 104 p.
Keyword [en]
Keyword [sv]
Teknik, robot, navigering, robotsensorer, 3D kamera, stereokamera, Astar
URN: urn:nbn:se:ltu:diva-45758Local ID: 36e308a5-7f42-4286-9309-d304ec183602OAI: diva2:1019054
Subject / course
Student thesis, at least 30 credits
Educational program
Space Engineering, master's level
Validerat; 20110316 (anonymous)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

Open Access in DiVA

fulltext(7849 kB)0 downloads
File information
File name FULLTEXT02.pdfFile size 7849 kBChecksum SHA-512
Type fulltextMimetype application/pdf

Search in DiVA

By author/editor
Bjurström, Johan

Search outside of DiVA

GoogleGoogle Scholar
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

ReferencesLink to record
Permanent link

Direct link