Design and implementation of a vision system for planetary micro-rovers for geology research and enhanced odometry

Planetary Micro-Rovers such as the Micro-RoSA-2 Mars Rover were designed for autonomous exploration mission in space. The mission is characterized by very limited tele-operation, limited knowledge of planetary terrain and challenges in rover localization and hazard detection. Therefore, it requires an accurate localization system. However, conventional odometry for planetary rover always has intrinsic error due to wheel-slippage and blockage. A vision-based odometry system is not affected by those problems, also, it utilizes the rover’s ready vision system hardware. It is a promising supplement component for the micro-rover localization system. The visual odometry system design would also focus on the limited system resource aspect of the mission, for a balance between minimizing the computing and physical load on the rover and utilizing of communication band-width to the Lander. Also, the vision system for the RoSA Rover is essential in providing a geology research tool for geologist to visually investigate subjects of scientific interest on the spot. That would enable selectively sample collecting- rather than the less effective random sampling- for examination in Lander’s geology research lab.Validerat; 20101217 (root