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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

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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