Structured Light System on Mars Rover Robotic Arm Instrument

David Arge Klevang Pedersen*, Carl Christian Liebe, John Leif Jørgensen

*Corresponding author for this work

Research output: Contribution to journalJournal articleResearchpeer-review

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Abstract

A structured light system is used to position a scientific instrument mounted on a Mars rover robotic arm relative to a Mars surface sample. Fifty laser spots are projected on the Mars surface sample. The identification of individual laser spots, the centroiding algorithm and the calibration are discussed. Results show that the system measures the distance to the Mars surface sample more accurate than 50 microns at a nominal operating distance of 30 mm.
Original languageEnglish
JournalIEEE Transactions on Aerospace and Electronic Systems
Volume55
Issue number4
Pages (from-to)1612 - 1623
ISSN0018-9251
DOIs
Publication statusPublished - 2019

Keywords

  • CCD
  • Laser
  • Mars 2020
  • Structured light
  • Triangulation

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