Research Issues and Results to Date" on Robotic Exploration of Mars!
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1 Research Issues and Results to Date" on! Larry Matthies! Computer Vision Group! California Institute of Technology!
2 Science Themes for Mars Exploration! W A T E R Look for Life Understand Climate Explore Geology When Where Form Amount Prepare for Human Exploration
3 Signs of Past Water on Mars! Viking orbiter photo!
4 Mars Landing Sites! -8! 0! +12 km! Phoenix 70! 60! VL2 50! VL1 MPF Opportunity Spirit 40! 30! 20! 10! 0! -10! -20! -30! -40! -50! -60! -180! -120! -60! -70! 0! 60! 120! 180!
5 Gullies in Crater and Canyon Walls!
6 Glacier-like Flows in Mid-Latitudes!
7 Fossil Delta! Interpreted as exhumed river delta with a meander! Mars Global Surveyor photo!
8 Distribution of Modern Water!
9 Mars Climate History! 4.5 Ga! 3.9! 3.1! 0!
10 Climate Cycles and Layered Terrain!
11 Recent and Future NASA Mars Surface Vehicles 20 MHz! ~ 120 MHz! 2 MHz! lhm - 11
12 Mars Mission Capabilities! Mars Pathfinder (MPF)! 2 MHz processor clock! Structured light obstacle detection! Reactive obstacle avoidance (no map)! Stayed close to lander! Terrain mapping from lander stereo! Mars Exploration Rover (MER)! 20 MHz processor clock! Stereo-based (SAD1) obs. det.! Local map-based obs. avoidance! Visual odometry (3D to 3D pose)! Lander horizontal velocity estimation! Global route planning (D*)! Target tracking! Dust devil and cloud detection! Localization relative to orbital imagery! Mars Phoenix! Landing site rock distribution from orbit! Mars Science Lab (MSL)! Basically same navigation as MER! Work in progress! Improved sample acquisition! Higher performance computing! Precision landing! Landing hazard avoidance! Sink, slip prediction! Rough terrain path planning! Steep terrain access!
![Sojourner s Drive Path: 0.1 km in 0.3 years [Mishkin AERO 1998]!](/docs-images/74/71038990/images/13-2.jpg "[Wilcox ICES 1998]! [Matijevic JGR 1997]! [Matthies AURO 1995]!")
13 Sojourner s Drive Path: 0.1 km in 0.3 years [Mishkin AERO 1998]! [Wilcox ICES 1998]! [Matijevic JGR 1997]! [Matthies AURO 1995]! lhm - 13
14 Mars Exploration Rover Mission! Pancams! Hazcams! Navcams! Driving modes:! Blind: 120 m/hr! ODOA: < 35 m/hr! VO: 10 m/hr! Hazcams! Microscopic imager! ODOA+VO: 5 m/hr!
15 Opportunity s Drive Path: 20.8 km in 6.4 years Victoria Crater! lhm - 15
16 Rover Mobility Challenge: Steep Terrain lhm - 16
17 Spirit s Drive Path: 7.7 km in 6.4 years lhm - 17
18 Rover Mobility Challenge: Soft Soil!
19 Obstacle Detection and Avoidance! [Goldberg AERO 2002, Biesiadecki AERO 2006]!
![2005]!](/docs-images/74/71038990/images/20-8.jpg "[Maimone JFR 2007,")
![Johnson ICRA 2008]!](/docs-images/74/71038990/images/20-9.jpg "[Castano MVA 2008]!")
20 Other Capabilities Onboard MER Rovers! Stereo visual odometry, 3D to 3D pose on successive pairs! 1375 m run: red, GPS; MSL-VO (< 3% error in 100 m)! [Lindemann SMC 2005]! [Maimone JFR 2007, Johnson ICRA 2008]! [Castano MVA 2008]! [Kim JFR 2009]! 9.65 m 6.11 m! 3.05 m! 1.92 m!
21 Rover Global Localization! Bundle adjustment plus mosaic registration to orbital imagery! [Di ISPRS 2008]!
22 MER Descent Image Motion Estimation System" [Johnson IJCV 2007]!
23 Spirit Terminal Descent Reconstruction!
24 Shadow-based Rock Detection" for Phoenix Landing Site Selection!
25 Shadow-based Rock Detection" for Phoenix Landing Site Selection! Auto-counted 10 million rocks in 1500 km 2! [Golombek JGR 2008]!
26 Precision Landing Roadmap! 1 st Generation EDL (MER) 80 x 10 km! 3 rd Generation EDL 200 m! 2 nd Generation EDL (MSL) ~ 20 x 10 km!
27 MSL Entry, Descent, and Landing Scenario!
28 Map Matching for Precision Landing! Prior information:! Imagery and elevation map of the terrain, optionally with albedo map! Lat/long and time of landing! Other onboard sensing:! IMU => good attitude knowledge! Radar altimeter => good altitude knowledge! Problem reduces to estimating horizontal position by image matching with known scale, orientation, and lighting! Two phases:! High position uncertainty: FFT correlation of entire descent image against map image! Low position uncertainty: spatial domain correlation of multiple small descent image patches against map image! Descent image features Matches in map image
![[Mourikis TRO 2009]!](/docs-images/74/71038990/images/29-2.jpg "Descent# Images!")
29 ST9 Vision Aided Inertial Navigation (VISINAV) Filter! Descent" Camera! [Johnson AIAA 2007]! [Mourikis TRO 2009]! Descent# Images! Prior Reconnaissance! Image! Elevation# Map! Map! Feature Tracking Map Matching Inertial! Measurement" Unit! 2D image to 2D image matches angular rates and accelerations VISINAV Kalman Filter 2D image to 3D map matches altitudes Radar" Altimeter! Lander position, velocity, attitude IMU gyro and accelerometer biases
30 ST9 Data Collection Flight" White Sands Missile Range, April 2006! Produced descent imagery at 30 Hz from 4000 m above ground to landing, with 50 Hz IMU data and ground truth position via GPS at 10 Hz! cameras [Thurman AIAA 2007]!
31 ST9 Multi-Feature Map Matching Results! Images from 1600m to 300m AGL! Images once a second! Image resolutions range from 1.5m to 0.3m (5x change in scale)! Map with 0.9m/pixel, 5 years old! Image Features Map Matches
32 parachute deployment /s roll rates! ST9 Feature Tracking Results! near touchdown - 2x change in scale!
33 ST9 VISINAV Results! Position Error at Touchdown (m)! North! East! Down! IMU Propagation! -1400! 6900! 5900! VISINAV! -1.7! 0.1! -6.2! Velocity Error at Touchdown (m/s)! North! East! Down! IMU Propagation! -3.1! 30! 11! VISINAV! 0.13! 0.06! -0.07! Remaining issues:! Shadows at low sun elevation! Large altitude uncertainty before radar lock-up!
34
35 FT1: HDA and HRN! Test Platform! Test Platform" Gimbal with! Flash Lidar" Terrain Relative Navigation Cameras"
36
37 3D Points! Example Flash " Lidar Image! 128x128 pixels! 430m Range! 7 Off Nadir! Elevation Map! 2x2x1m box! 1x1x1m box! Top View! 0.9m radius" hemispheres! 0.6 radius" hemispheres! [Johnson AERO 2010]! 20m Oblique View! Side View!
38 Lander and Orbiter Processing:" Multi-core Mesh Architecture (Tilera)! [Villalpando AERO 2010]!
39 ??? FPGA Rover Co-Processor:" Anticipated Benefit! MER driving modes:! Blind: 120 m/hr! ODOA: < 35 m/hr! VO: 10 m/hr! ODOA+VO: 5 m/hr! [Villalpando MAPLD 2006]!
40 Applications for Better Terrain Classification" and Slip/Sink Prediction on Mars!
![[Angelova JFR 2007]!](/docs-images/74/71038990/images/41-3.jpg "Terrain classifier fbedrock")
41 Learning Slip Prediction: Approach! [Angelova JFR 2007]! Terrain classifier fbedrock fcoh. soil fsand Slip modeling Nonlinear regression Slip Texton based approach! Build dictionary of texture elements (textons):! Slope from sand from gravel Build statistics of texton responses:!
42 Without Slip Prediction! Learning Slip Prediction:! End-to-End Demonstration! With Slip Prediction! Slip %! bedrock! soil! rock! [Helmick JFR 2009]!
43 ExoMars Rover!
44 ExoMars Rover Rear View!
45 Potential Future Mission Set!
46 Summary of (Some) Challenges! Ongoing work! " High performance computing! " Precision landing with hazard avoidance! " Sample acquisition, sample return! " Steep terrain access: rappelling systems! Future work! " Sensing soft soil ahead! " Steep terrain access: other systems?! " Deep subsurface access!
47 References! [Angelova JFR 2007] A. Angelova, L. Matthies, D. Helmick, P. Perona, Learning and prediction of slip from visual information, Journal of Field Robotics, 24(3), 2007! [Ansar IROS 2009] A. Ansar, L. Matthies, Multi-model image registration for localization in Titan$s atmosphere, IROS 2009! [Biesiadecki AERO 2006] J. Biesiadecki, M. Maimone, The Mars Exploration Rover surface mobility flight software: driving ambition, IEEE Aerospace Conference, 2006! [Castano MVA 2008] A. Castano et al., Automatic detection of dust devils and clouds on Mars, Machine Vision and Applications J., Oct. 2008! [Cheng AAS 2003] Y. Cheng, A.E. Johnson, C. Olson, L. Matthies, Optical landmark detection for spacecraft navigation, 13 th Annual AAS/AIAA Space Flight Mechanics Meeting, 2003! [Di ISPRS 2008] K. Di et al., Photogrammetric processing of rover imagery of the 2003 Mars Exploration Rover mission, ISPRS Journal of Photogrammetry and Remote Sensing, 2008! [Goldberg AERO 2002] S. Goldberg, M. Maimone, L. Matthies, Stereo vision and rover navigation software for planetary exploration, IEEE Aerospace Conference, 2002! [Golombek JGR 2008] M.P. Golombek et al., Size-frequency distributions of rocks on the northern plains of Mars with special reference to Phoenix landing surfaces, Journal of Geophysical Research Planets, 2008! [Helmick JFR 2009] D. Helmick, A. Angelova, L. Matthies, Terrain adaptive navigation for planetary rovers, Journal of Field Robotics, 26(4), 2009! [Johnson ICRA 2005] A.E. Johnson, J. Montgomery, L. Matthies, Vision-guided landing of an autonomous helicopter in hazardous terrain, ICRA 2005! [Johnson IJCV 2007] A. Johnson et al., Design through operation of an image-based velocity estimation system for Mars landing, Int#l J. Computer Vision, 2007!
48 References! [Johnson AIAA 2007] A. Johnson et al., A general approach to terrain relative navigation for planetary landing, AIAA Infotech at Aerospace Conference, 2007! [Johnson ICRA 2008] A.E. Johnson, S.B. Goldberg, Y. Cheng, L.H. Matthies, Robust and efficient stereo feature tracking for visual odometry, ICRA, 2008! [Johnson AERO 2010] A.E. Johnson, J.A. Keim, T. Ivanov, Analysis of flash lidar field test data for safe lunar landing, IEEE Aerospace Conference, 2010! [Kim JFR 2009] W.S. Kim et al., Targeted driving using visual tracking on Mars: from research to flight, Journal of Field Robotics, 26(3), 2009! [Di ISPRS 2008] K. Di et al., Photogrammetric processing of rover imagery of the 2003 Mars Exploration Rover mission, ISPRS Journal of Photogrammetry and Remote Sensing, 2008! [Lindemann SMC 2005] R. Lindemann, C. Voorhees, Mars Exploration Rover mobility assembly design, test, and performance, IEEE Conf. on Systems, Man, and Cybernetics, 2005! [Maimone JFR 2007] M. Maimone, Y. Cheng, L. Matthies, Two years of visual odometry on the Mars Exploration Rovers, Journal of Field Robotics, 24(3), 2007! [Matthies AURO 1995] L. Matthies, E. Gat, R. Harrison, B. Wilcox, R. Volpe, T. Litwin, Mars microrover navigation: performance evaluation and enhancement, Autonomous Robots, 2(4), 1995! [Matijevic JGR 1997] J.R. Matijevic et al., The Pathfinder Microrover, Journal of Geophysical Research Planets, Feb 1997! [Mishkin AERO 1998] A.H. Mishkin, J.C. Morrison, T.T. Nguyen, H.W. Stone, B.K. Cooper, B.H. Wilcox, Experiences with operations and autonomy of the Mars Pathfinder Microrover, IEEE Aerospace Conference, 1998! [Mourikis TRO 2009] A.I. Mourikis et al., Vision-aided inertial navigation for spacecraft entry, descent, and landing, IEEE Transactions on Robotic and Automation, 25(2), 2009!
49 References! [Thurman AIAA 2007] S. Thurman, L. Matthies, J.M. Corliss, R.K. Johnson, Space flight testing of vision-guided planetary landing system, AIAA Infotech at Aerospace Conference, 2007! [Villalpando MAPLD 2006] C. Villalpando, Acceleration of stereo correlation in Verilog, 9 th Military and Aerospace Programmable Logic Devices Int#l Conference, 2006! [Villalpando AERO 2010] C.Y. Villalpando, A.E. Johnson, R. Some, J. Oberlin, Investigation of the Tilera processor for real time hazard detection and avoidance on the Altair lunar lander, IEEE Aerospace Conference, 2010! [Wilcox ICES 1998] B. Wilcox, T. Nguyen, Sojourner on Mars and lessons learned for future planetary rovers, 28 th Int#l Conf. on Environmental Systems, July 1998! [Wilcox AERO 2010] B.H. Wilcox, ATHLETE: lunar cargo unloading from a high deck, IEEE Aerospace Conference, 2010! [Williams APL 2002] B.G. Williams, Technical challenges and results for navigation of NEAR Shoemaker, Johns Hopkins APL Technical Digest, 23(1), 2002!
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