3D Reconstruction of Environments for Planetary Rover Autonomous Exploration

Joseph Nsasi Bakambu, Sebastien Gemme, Pierre Allard, Tom Lamarche, Ioannis Rekleitis
In 44th AIAA Aerospace Sciences Meeting and Exhibit 2006.

Abstract

Abstract: In this paper we consider the problem of constructing a 3D environment model for the tele-operation of a planetary rover. We presented our approach to 3D environment reconstruction from large sparse range data sets. In space robotics applications, an accurate and up-to-date model of the environment is very important for a variety of reasons. In particular, the model can be used for safe tele-operation, path planning and mapping points of interest. We propose an on-line reconstruction of the environment using data provided by an on-board high resolution and accurate 3D range sensor (LIDAR). Our approach is based on on-line acquisition of range scans from different view-points with overlapping regions, merge them together into a single point cloud, and then fit an irregular triangular mesh on the merged data. The experimental results demonstrate the effectiveness of our approach in localization, path planning and execution scenario on the Mars Yard located at the Canadian Space Agency.

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BibTeX

@inproceedings{Rekleitis2006a,
  author       = {Joseph Nsasi Bakambu, Sebastien Gemme, Pierre Allard, Tom
		 Lamarche, Ioannis Rekleitis},
  title        = {3D Reconstruction of Environments for Planetary Rover
		 Autonomous Exploration},
  booktitle    = {44th AIAA Aerospace Sciences Meeting and Exhibit},
  pages        = {1--8},
  year	       = {2006},
  address      = {Reno, NV, USA},
  month        = {Jan.},
  organization = {American Institute of Aeronautics and Astronautics}
}

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Mon Sep 16 06:21:02 EDT 2019