NASA NTRS · 20060043483
The source did not provide an abstract. Follow the original record for more information.
Explore connections, maps & timelines
Rankin, Arturo. 2005-06-01. Passive perception for autonomous navigation. https://ntrs.nasa.gov/citations/20060043483
Cite the original work for its findings. Save a collection to share your selection of sources.
KEEP EXPLORING
Water detection is a critical perception requirement for unmanned ground vehicle (UGV) autonomous navigation over cross-country terrain. During the Robotics Collaborative Technology Alliances (RCTA) program, the Jet Propulsion Laboratory (JPL) developed a set of water detection algorithms that are used to detect, localize, and avoid water bodies large enough to be a hazard to a UGV. The JPL water detection software performs the detection and localization stages using a forward-looking stereo pair of color cameras. The 3D coordinates of water body surface points are then output to a UGV's autonomous mobility system, which is responsible for planning and executing safe paths. There are three primary methods for evaluating the performance of the water detection software. Evaluations can be performed in image space on the intermediate detection product, in map space on the final localized product, or during autonomous navigation to characterize the avoidance of a variety of water bodies. This paper describes a methodology for performing the first two types of water detection performance evaluations.
This paper discusses the Team Raptor passive perception system hardware and software design, implementation, and performance, and describes a road map to faster and improved passive perception.
Explore the source record for details and available documents.