Speckle velocimetry for high accuracy odometry for a Mars exploration rover
Speckle velocimetry for high accuracy odometry for a Mars exploration rover
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用于火星探测车高精度里程计的散斑测速
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
R. Tatam
中科院分区：
文献类型：
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作者：
T. Charrett;L. Waugh;R. Tatam
给出了散斑测速技术在火星探测车上应用的初步研究结果。散斑测速是一种非接触式光学测速技术，旨在取代或补充当前由车轮编码器提供的里程计信息。这项初步研究探讨了从火星土壤类似物中形成散斑图像的可行性，并使用实验室测试系统研究了可能的算法。归一化互相关法被认为是最有前途的处理方法，初步结果表明，在速度高达1 mm S−1的情况下，里程计误差为0.2%，并且该技术应能很好地扩展到探测车典型的较高速度(∼85 mm S−1)。
The results of a preliminary study into speckle velocimetry for potential application on a Mars exploration rover are presented. Speckle velocimetry is a non-contact optical velocimetry technique intended to replace or supplement the current odometry information provided by wheel encoders. This initial study investigated the feasibility of forming speckle images from Mars soil analogues and investigated potential algorithms using a laboratory test system. The normalized cross-correlation approach is identified as the most promising processing method, with preliminary results suggesting an odometry error of 0.2% at speeds of up to 1 mm s−1 and that the technique should scale well to the higher velocities (∼85 mm s−1) typical of exploration rovers.