3D Terrain Modeling for Rover Localization and Navigation

Bakambu, J.N.; Allard, Pierre; Dupuis, Érick

doi:10.1109/crv.2006.2

Cited by 12 publications

(11 citation statements)

References 14 publications

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“…Although peaks were chosen for their distinctiveness and simplicity in planetary worksite terrain, alternate features can be identified in flat terrain by replacing the detector. Other possibilities include regions of high curvature (Bakambu, Gemme, et al, 2006) or geometric rock models (Li et al, 2007). Furthermore, though a feature‐based approach was chosen for computational savings, the dense data could be utilized in select scenarios where feature extraction failed.…”

Section: Discussionmentioning

confidence: 99%

“…Pairwise alignment of sequential scans of planetary analogue terrain has been conducted for 3D localization using variants of ICP by several research groups. Notable applications to rover navigation include the experiments conducted by Se, Ng, Jasiobedzki, and Moyung (2004) in a quarry, and the work by Bakambu, Allard, & Dupuis (2006), achieving sufficiently accurate registration for path‐planning (Rekleitis, Bedwani, & Dupuis, 2007) and a long‐range exploration task (Dupuis et al, 2008). Further refinements (Bakambu, Gemme, et al, 2006) utilized a feature‐based method, identifying regions of high curvature and using both spin image (Johnson, 1997) and point fingerprint (Sun et al, 2003) representations for the feature descriptor.…”

Section: Literature Reviewmentioning

confidence: 99%

“…On the other hand, a sparse‐feature‐based approach can be followed, where geometrically distinct interest points are extracted from each scan. These distinctive points can include peaks in the terrain (Carle, Furgale, & Barfoot, 2010) or regions of high curvature (Bakambu, Gemme, & Dupuis, 2006). This approach provides a reduced representation of the scan, providing substantial computational savings.…”

Section: Introductionmentioning

confidence: 99%

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TGF‐β signaling is dynamically regulated during the alveolarization of rodent and human lungs

Alejandre-Alcázar

Michiels-Corsten

Vicencio

et al. 2007

Developmental Dynamics

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Although transforming growth factor-beta (TGF-␤) signaling negatively regulates branching morphogenesis in early lung development, few studies to date have addressed the role of this family of growth factors during late lung development. We describe here that the expression, tissue localization, and activity of components of the TGF-␤ signaling machinery are dynamically regulated during late lung development in the mouse and human. Pronounced changes in the expression and localization of the TGF-␤ receptors Acvrl1, Tgfbr1, Tgfbr2, Tgfbr3, and endoglin, and the intracellular messengers Smad2, Smad3, Smad4, Smad6, and Smad7 were noted as mouse and human lungs progressed through the canalicular, saccular, and alveolar stages of development. TGF-␤ signaling, assessed by phosphorylation of Smad2, was detected in the vascular and airway smooth muscle, as well as the alveolar and airway epithelium throughout late lung development. These data suggest that active TGF-␤ signaling is required for normal late lung development. Developmental Dynamics 237:259 -269, 2008.

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Section: Discussionmentioning

confidence: 99%

Section: Literature Reviewmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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TGF‐β signaling is dynamically regulated during the alveolarization of rodent and human lungs

Alejandre-Alcázar

Michiels-Corsten

Vicencio

et al. 2007

Developmental Dynamics

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“…Rigorous experimental results in the Mars terrain have demonstrated the robustness and the stability of the developed pathfollowing approach [46].…”

Section: Path-planning and Navigationmentioning

confidence: 91%

Over-the-horizon, autonomous navigation for planetary exploration

Rekleitis

Bedwani

Dupuis

2007

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-The success of NASA's Mars Exploration Rovers has demonstrated the important benefits that mobility adds to planetary exploration. Very soon, mission requirements will impose that planetary exploration rovers drive over-the-horizon in a single command cycle. This will require an evolution of the methods and technologies currently used. This paper presents experimental validation of our over-the-horizon autonomous planetary navigation. We present our approach to 3D terrain reconstruction from large sparse range data sets, localization and autonomous navigation in a Mars-like terrain. Our approach is based on on-line acquisition of range scans, map construction from these scans, path planning and navigation using the map. An Autonomy Engine supervises the whole process ensuring the safe navigation of the planetary rover.The outdoor experimental results demonstrate the effectiveness of the reconstructed terrain model for rover localization, path planning and motion execution scenario as well as the autonomy capability of our approach.

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“…Another approach gathered random range measurements and matched them to a DEM, but the method required that the orientation and altitude of the rover be known from onboard equipment (Yacoob & Davis, 1992). Bakambu et al (2006) examined the problem of matching two lidar scans. Different feature matchers were evaluated and combined to improve computing efficiency.…”

Section: Past Workmentioning

confidence: 99%

Long‐range rover localization by matching LIDAR scans to orbital elevation maps

Carle¹,

Furgale²,

Barfoot³

2010

Journal of Field Robotics

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Output uncertainties were large due to large input uncertainties, but these could be reduced in future experimentation by minimizing the use of simulated input data. It was concluded that the architecture could be used to accurately and autonomously localize a rover over long-range traverses.ii Acknowledgements I owe greatest thanks to my supervisor Tim Barfoot for his generous guidance and razor-sharp honesty. Thanks to Joseph Bakambu for helpful discussions on feature matching techniques.

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3D Terrain Modeling for Rover Localization and Navigation

Cited by 12 publications

References 14 publications

TGF‐β signaling is dynamically regulated during the alveolarization of rodent and human lungs

TGF‐β signaling is dynamically regulated during the alveolarization of rodent and human lungs

Over-the-horizon, autonomous navigation for planetary exploration

Long‐range rover localization by matching LIDAR scans to orbital elevation maps

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