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Final_Dissertation_DingLi_Jan8_2015.pdf (3.76 MB)

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ESA ExoMars Rover PanCam System Geometric Modeling and Evaluation

Li, Ding
http://rave.ohiolink.edu/etdc/view?acc_num=osu1420788556

Abstract Details

2015, Doctor of Philosophy, Ohio State University, Geodetic Science and Surveying.
The ESA ExoMars rover, planned to be launched to the Martian surface in 2018, will carry a drill and a suite of instruments dedicated to exobiology and geochemistry research. To fulfill its scientific role, high-precision rover localization and topographic mapping will be important for traverse path planning, safe planetary surface operations and accurate embedding of scientific observations into a global spatial context. For such purposes, the ExoMars rover PanCam system will acquire an imagery network providing vision information for photogrammetric algorithms to localize the rover and generate 3-D mapping products. Since the design of the PanCam will influence the localization and mapping accuracy, quantitative error analysis of the PanCam design will improve scientists’ awareness of the achievable accuracy, and enable the PanCam design team to optimize the design for achieving higher localization and mapping accuracy. In addition, a prototype camera system that meets with the formalized PanCam specifications is also needed to demonstrate the attainable localization accuracy of the PanCam system over long-range traverses. Therefore, this research contains the following two goals. The first goal is to develop a rigorous mathematical model to estimate localization accuracy of this PanCam system based on photogrammetric principles and error propagation theory. The second goal is to assemble a PanCam prototype according to the system specifications and develop a complete vision-based rover localization method from camera calibration and image capture to obtain motion estimation and localization refinement. The vision-based rover localization method presented here is split into two stages: the visual odometry processing, which serves as the initial estimation of the rover’s movement, and the bundle adjustment technique, which further improves the localization through posterior refinement. A theoretical error analysis model for each of the localization stages has been established accordingly to simulate the rover localization error with respect to the traverse length. Additionally, a PanCam prototype was assembled with similar parameters as the latest technical specifications in order to systematically test and evaluate the ExoMars PanCam localization and mapping capabilities. The entire processing path from system assemblage, calibration, feature extraction and matching, as well as rover localization from field experiments has been performed in this research.
Alper Yilmaz (Advisor)
Alan Saalfeld (Committee Member)
Ralph von Frese (Committee Member)
149 p.
Geographic Information Science; Robotics
ExoMars; Localization; Error Propagation; Bundle Adjustment; Visual Odometry

Recommended Citations

Citations

  • Li, D. (2015). ESA ExoMars Rover PanCam System Geometric Modeling and Evaluation [Doctoral dissertation, Ohio State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=osu1420788556

    APA Style (7th edition)

  • Li, Ding. ESA ExoMars Rover PanCam System Geometric Modeling and Evaluation. 2015. Ohio State University, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=osu1420788556.

    MLA Style (8th edition)

  • Li, Ding. "ESA ExoMars Rover PanCam System Geometric Modeling and Evaluation." Doctoral dissertation, Ohio State University, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=osu1420788556

    Chicago Manual of Style (17th edition)

osu1420788556
795
© 2015, all rights reserved.
This open access ETD is published by The Ohio State University and OhioLINK.