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CIM - REPARTI Perception Seminars

Autonomous Planetary Exploration using Irregular Triangular Mesh


Yiannis Rekleitis, Adjunct Professor
School of Computer Science/Centre for Intelligent Machines McGill University

February 7, 2008 at  3:00 PM
George Zames Room MC437

In this talk, I am going to present work done at the Canadian Space Agency. In particular, our approach to planetary exploration together with the challenges we face is going to be discussed. Our objective is autonomous over-the-horizon navigation using a laser based vision sensor. With the term over-the-horizon, we mean locations beyond the sensor's reach.

Central to our efforts is the task of developing the autonomous capabilities of space robotic systems and in particular of planetary rovers. In order for a rover to be fully autonomous it has to be able to sense its environment, reason about the terrain it faces, plan a path, and navigate safely along the planned trajectory. In order to avoid the problems of harsh lighting conditions and to produce scientific valuable topographical maps in medium scale, we have selected the use of a laser based vision sensor. In this part of the talk I am going to present our successful autonomous experiments in over-the-horizon navigation in CSA's Mars-like terrain.