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Title: Current results from a Rover Science Data Analysis System
Authors: Castano, Rebecca
Judd, Michele
Estlin, Tara
Anderson, Robert C.
Gaines, Daniel
Castano, Andres
Bornstein, Ben
Stough, Tim
Wagstaff, Kiri
Keywords: rover science
rock detection
Coupled Layer Architecture for Robotic Autonomy (CLARAty)
Field Integrated Design and Operations (FIDO)
Continuous Activity Scheduling Planning Execution Replanning (CASPER)
Issue Date: 5-Mar-2005
Publisher: Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2005.
Citation: IEEE Aerospace Conference, Big Sky, Montana, March 5-12, 2005.
Abstract: In this paper, we provide a brief overview of the OASIS system, and then describe our recent successes in integrating with and using rover hardware. OASIS currently works in a closed loop fashion with onboard control software (e.g., navigation and vision) and has the ability to autonomously perform the following sequence of steps: analyze gray scale images to find rocks, extract the properties of the rocks, identify rocks of interest, retask the rover to take additional imagery of the identified target and then allow the rover to continue on its original mission. We also describe the early 2004 ground test validation of specific OASIS components on selected Mars Exploration Rover (MER) images. These components include the rockfinding algorithm, RockIT, and the rock size feature extraction code. Our team also developed the RockIT GUI, an interface that allows users to easily visualize and modify the rock-finder results. This interface has allowed us to conduct preliminary testing and validation of the rockfinder’s performance.
Appears in Collections:JPL TRS 1992+

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