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Stereo Vision On A Smart Rover

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Conference

2006 Annual Conference & Exposition

Location

Chicago, Illinois

Publication Date

June 18, 2006

Start Date

June 18, 2006

End Date

June 21, 2006

ISSN

2153-5965

Conference Session

Integrating Research Into Undergraduate ECE Education

Tagged Division

Electrical and Computer

Page Count

8

Page Numbers

11.1148.1 - 11.1148.8

DOI

10.18260/1-2--1327

Permanent URL

https://peer.asee.org/1327

Download Count

351

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Paper Authors

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Kathleen Hayden California State Polytechnic University-Pomona

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Yi Cheng California State Polytechnic University-Pomona

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Zekeriya Aliyazicioglu California State Polytechnic University-Pomona

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Tim Lin California State Polytechnic University-Pomona

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Abstract
NOTE: The first page of text has been automatically extracted and included below in lieu of an abstract

Stereo Vision on a Smart Rover

1. Introduction

In 2002, California State Polytechnic University, Pomona (Cal Poly Pomona) was awarded NASA PAIR (Partnership Awards for the Integration of Research into Undergraduate Education) contract. The purpose of this four years NASA PAIR program is to integrate cutting-edge NASA-related research into the undergraduate curriculum. Cal Poly Pomona chose to incorporate the Jet Propulsion Laboratories (JPL) robotic technology research into the undergraduate curricula of the Electrical and Computer Engineering Department, the Engineering Technology Department, Mechanical Engineering Department, and the Computer Science Department. We proposed to conduct an interdisciplinary project, "Deep Space Exploration using Smart Robotic Rovers", and develop an autonomous robotic rover. During the last three years, students and faculty participating in this program have developed a robotic rover that has successfully accomplished the initial goals of the project: (1) semi- autonomous navigation systems for remote robots, (2) processing of 2-dimensional images and data transmission, and (3) modified operations in a degraded communication environment. At this time the rover is capable of climbing 30° inclines, rotating about its center axis, and maneuvering diagonally while maintaining stability. It has also been designed to protect the vital internal components from outside contaminants and provides mechanical support for all externally mounted equipment including sensors, a robotic arm and a stereo camera.

Figure 1. Smart Robotic Rover Prototype

The robot uses images captured by the stereo camera to move from one location to another location while avoiding any possible obstructions in its path. Stereographic images are used to

Hayden, K., & Cheng, Y., & Aliyazicioglu, Z., & Lin, T. (2006, June), Stereo Vision On A Smart Rover Paper presented at 2006 Annual Conference & Exposition, Chicago, Illinois. 10.18260/1-2--1327

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