Experiments had been conducted on Mars rover detection and localization using residue image processing and stereo vision. In NASA's Pathfinder mission, an unmanned lander had been landed on Mars and a microrover was released from the lander to perform scientific experiments. Rover localization is an important issue because, for navigation purpose the rover's position needs to be continuously updated. Three aspects of the problem have been studied: motion detection, residue image processing, and range estimation. The algorithms are described. Stereo-pairs of images taken at the Jet Propulsion's Laboratory's (JPL's) Mars Test Arena were used to test the algorithms. The results were presented along with analysis of range estimation accuracy.
['Larry H. Matthies', 'Byron H. Chen', 'Jon Petrescu']
Stereo vision, residual image processing and Mars rover localization