UWB and UW Seal
Clark F. Olson
By type:
Journal papers
Conference papers
Book chapters
Visual Terrain Mapping for Mars Exploration
Clark F. Olson, Larry H. Matthies, John R. Wright, Ron Li, Kaichang Di
In Proceedings of the IEEE Aerospace Conference, volume 2, pages 762-771, March 2004.
Download (5229 K)
One goal for future Mars missions is to navigate a rover to science targets not visible to the rover, but seen in orbital or descent images. In order to support and improve long-range navigation capabilities, we generate 3D terrain maps using all available images, including surface images from the lander and/or rover, descent images from the lander, and orbital images from current and future Mars orbiters. The techniques used include wide-baseline stereo mapping for terrain distant from the rover, bundle adjustment for high-accuracy mapping of surface images, and structure-from-motion techniques for mapping using descent and orbital images. The terrain maps are compiled using a system for unifying multi-resolution models and integrating three-dimensional terrains.