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Visual wheel sinkage measurement for planetary rover mobility characterization
Tau Beta Pi, United States.
MIT, USA.
MIT, USA.
2006 (English)In: Autonomous Robots, ISSN 0929-5593, E-ISSN 1573-7527, Vol. 21, no 1, p. 55-64Article in journal (Refereed) Published
Abstract [en]

Wheel sinkage is an important indicator of mobile robot mobility in natural outdoor terrains. This paper presents a vision-based method to measure the sinkage of a rigid robot wheel in rigid or deformable terrain. The method is based on detecting the difference in intensity between the wheel rim and the terrain. The method uses a single grayscale camera and is computationally efficient, making it suitable for systems with limited computational resources such as planetary rovers. Experimental results under various terrain and lighting conditions demonstrate the effectiveness and robustness of the algorithm.

Place, publisher, year, edition, pages
New York: Springer-Verlag New York, 2006. Vol. 21, no 1, p. 55-64
Keywords [en]
Machine vision, Mobile robots, Mobility, Rough terrain, Soil characterization
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20780DOI: 10.1007/s10514-006-7230-9ISI: 000238858600005Scopus ID: 2-s2.0-33745834337OAI: oai:DiVA.org:hh-20780DiVA, id: diva2:586723
Available from: 2013-01-12 Created: 2013-01-12 Last updated: 2018-03-22Bibliographically approved

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Iagnemma, Karl

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CiteExportLink to record
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  • apa
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  • nn-NB
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  • Other locale
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Output format
  • html
  • text
  • asciidoc
  • rtf