TY - JOUR
T1 - Autonomous Sensor System for Determining Instrument Position Relative to Unknown Surfaces Utilized on Mars Rover
AU - Liebe, Carl Christian
AU - Pedersen, David Arge Klevang
AU - Allwood, Abigail
AU - Bang, Anastassia
AU - Bartman, Seth
AU - Benn, Mathias
AU - Denver, Troelz
AU - Doran, Gary
AU - Foote, Marc
AU - Jørgensen, Andreas
AU - Jørgensen, John Leif
AU - Meras, Patrick
AU - Setterfield, Timothy P.
AU - Sharrow, Robert
AU - Sondheim, Michael
AU - Timmermann, Lars
AU - Tsai, Shihchuan
AU - Wade, Lawrence
AU - Wilson, Daniel
PY - 2022
Y1 - 2022
N2 - In some applications, a robot arm has to position instrumentation/payloads accurately relative to an unknown surface. This paper describes an optical sensor system for doing so. The sensor is based on a number of different image processing techniques combined with optical stimulation. More specifically, the system utilizes a camera, floodlight, structured light illumination, terrain relative navigation, camera pose estimation and circle finding. The sensor has been developed for the Planetary Instrument for X-Ray Lithochemistry (PIXL) instrument on NASA’s Mars Perseverance rover. The sensor also has other applications such as exploration of polluted or inaccessible areas or locating a robotic arm relative to an unknown surface. The sensor can aid in placing an instrument relative to the unknown surface with an accuracy of 0.5 mm and maintaining three-dimensional position lock utilizing terrain relative navigation. This paper will describe the sensor design and performance.
AB - In some applications, a robot arm has to position instrumentation/payloads accurately relative to an unknown surface. This paper describes an optical sensor system for doing so. The sensor is based on a number of different image processing techniques combined with optical stimulation. More specifically, the system utilizes a camera, floodlight, structured light illumination, terrain relative navigation, camera pose estimation and circle finding. The sensor has been developed for the Planetary Instrument for X-Ray Lithochemistry (PIXL) instrument on NASA’s Mars Perseverance rover. The sensor also has other applications such as exploration of polluted or inaccessible areas or locating a robotic arm relative to an unknown surface. The sensor can aid in placing an instrument relative to the unknown surface with an accuracy of 0.5 mm and maintaining three-dimensional position lock utilizing terrain relative navigation. This paper will describe the sensor design and performance.
KW - Mars Perseverance Rover
KW - Robot Vision Systems
KW - Planetary Instrument for X-Ray Lithochemistry (PIXL)
U2 - 10.1109/JSEN.2022.3193912
DO - 10.1109/JSEN.2022.3193912
M3 - Journal article
SN - 1530-437X
VL - 22
SP - 18933
EP - 18943
JO - IEEE Sensors Journal
JF - IEEE Sensors Journal
IS - 19
ER -