Journal ArticleDOI
The Jet Propulsion Laboratory Autonomous Helicopter Testbed: A platform for planetary exploration technology research and development
TLDR
The Jet Propulsion Laboratory Autonomous Helicopter Testbed, an aerial robot based upon a radio‐controlled model helicopter, provides a small low‐cost platform for developing and field testing new technologies needed for future space missions.Abstract:
The Jet Propulsion Laboratory Autonomous Helicopter Testbed (AHT), an aerial robot based upon a radio-controlled model helicopter, provides a small low-cost platform for developing and field testing new technologies needed for future space missions. The AHT helps cover the test space in a complementary fashion to other methods, such as rocket sleds or parachute drops. The AHT design and implementation is presented as well as experimental results and milestones achieved since its creation in 2001. In addition, technologies we are developing and testing are described. These include image-based hazard detection and avoidance algorithms for safe landing in dangerous terrain and an extended Kalman filter that augments inertial navigation with image-based motion estimates to enable pin-point landing. © 2006 Wiley Periodicals, Inc.read more
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Journal ArticleDOI
Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems
TL;DR: The main objective of this paper is to present a comprehensive survey of RUAS research that captures all seminal works and milestones in each GNC area, with a particular focus on practical methods and technologies that have been demonstrated in flight tests.
Journal ArticleDOI
Computer Vision on Mars
Larry Matthies,Mark Maimone,Andrew E. Johnson,Yang Cheng,Reg G. Willson,Carlos Y. Villalpando,Steve Goldberg,Andres Huertas,Andrew Neil Stein,Anelia Angelova +9 more
TL;DR: The design and performance of computer vision algorithms used on Mars in the NASA/JPL Mars Exploration Rover (MER) mission was a major step forward in the use ofComputer vision in space.
Journal ArticleDOI
Vision-aided inertial navigation for pin-point landing using observations of mapped landmarks
Nikolas Trawny,Anastasios I. Mourikis,Stergios I. Roumeliotis,Andrew E. Johnson,James F. Montgomery +4 more
TL;DR: An extended Kalman filter algorithm for estimating the pose and velocity of a spacecraft during entry, descent, and landing is described, which demonstrates the applicability of the algorithm on real‐world data and analyzes the dependence of its accuracy on several system design parameters.
Proceedings ArticleDOI
Overview of Terrain Relative Navigation Approaches for Precise Lunar Landing
TL;DR: This paper presents some high fidelity simulation results for contour matching and area correlation approaches to TRN using active sensors, and describes past and future lunar imaging and digital elevation map data sets available for this purpose.
Journal ArticleDOI
Autonomous landing at unprepared sites by a full-scale helicopter
TL;DR: A lidar-based perception system that enables a full-scale autonomous helicopter to identify and land in previously unmapped terrain with no human input is described and results from 8 successful landing experiments with varying ground clutter and approach directions are presented.
References
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Book
Multiple view geometry in computer vision
Richard Hartley,Andrew Zisserman +1 more
TL;DR: In this article, the authors provide comprehensive background material and explain how to apply the methods and implement the algorithms directly in a unified framework, including geometric principles and how to represent objects algebraically so they can be computed and applied.
Multiple View Geometry in Computer Vision.
TL;DR: This book is referred to read because it is an inspiring book to give you more chance to get experiences and also thoughts and it will show the best book collections and completed collections.
BookDOI
Spacecraft attitude determination and control
TL;DR: In this paper, the first comprehensive presentation of data, theory, and practice in attitude analysis is presented, including orthographic globe projections to eliminate confusion in vector drawings and a presentation of new geometrical procedures for mission analysis and attitude accuracy studies which can eliminate many complex simulations.
Book
The Image Processing Handbook
TL;DR: The Image Processing Handbook, Seventh Edition delivers an accessible and up-to-date treatment of image processing, offering broad coverage and comparison of algorithms, approaches, and outcomes.
Spacecraft attitude determination and control
TL;DR: In this article, the first comprehensive presentation of data, theory, and practice in attitude analysis is presented, including orthographic globe projections to eliminate confusion in vector drawings and a presentation of new geometrical procedures for mission analysis and attitude accuracy studies which can eliminate many complex simulations.