Mars Rover Localization Using Descent and Rover Imagery

Sponsored by: NASA/JPL

Project period: 1998-2002

Principal Investigator: Dr. Ron Li

Current Project Team: Dr. Kaichang Di and Fengliang Xu

Previous Team Member: Dr. Fei Ma and Zhuowen Tu

Overview

Rover and Sensors: MARCI, MARDI, FIDO

Field Test at Silver Lake, CA, 1999

Most Recent Results

May 22, 2002 Presentation to JPL

Publications:

Di, K., F. Xu, L. Matthies and C. Olson, 2002. High Precision Landing Site Mapping and Rover Localization by Integrated Bundle Adjustment of MPF Surface Images, Proceedings of the ISPRS Commission IV 2002 Symposium, Ottawa, Canada, July 9-12, 2002.

Di, K., R. Li, L. Matthies and C. Olson, 2002. A Study on Optimal Design of Image Traverse Networks for Mars Rover Localization. Proceeding of ACSM-ASPRS 2002 Annual Conference, Washington, D.C., April 19-26, 2002. (CD-ROM).

Li, R., F. Ma, F. Xu, L.H. Matthies, C.F. Olson and R.E. Arvidson 2002. Localization of Mars Rovers Using Descent and Surface-based Image Data. Journal of Geophysical Research-Planet. Accepted.

Olson, C.F., L.H. Matthies, Y. Yiong, R. Li, F. Ma and F. Xu 2001. Multi-resolution Mapping Using Surface, Descent and Orbital Imagery. The 2001 International Symposium on Artificial Intelligence, Robotics and Automation in Space, Montreal, June 2001.

Ma, F., K. Di, R. Li, L. Matthies and C. Olson 2001. Incremental Mars Rover Localization Using Decent and Rover Imagery. ASPRS Annual Conference, St. Louis, MO, April 25-27, 2001 (CD-ROM).

Xu, F., F. Ma, R. Li, L. Matthies and C. Olson 2001. Automatic Generation of a Hierarchical DEM for Mars Rover Navigation. Proceedings of the 3rd Mobile Mapping Conference, Cairo, Egypt, January 3-5, 2001.

Li, R., F. Ma, F. Xu, L. Matthies, C. Olson and Y. Xiong, 2000. Mars rover localization using descent and rover imagery, --result of the field test at Silver Lake, CA, Proceedings of ASPRS, Washington, D.C.

Li, R., F. Ma, F. Xu, L. Matthies, C. Olson and Y. Xiong, 2000. Large scale mars mapping and rover localization using descent and rover imagery, Proceedings of ISPRS, Vol. XXXIII, Amsterdam.

Related sites:

NASA/JPL

Malin Space Science System