test Browse by Author Names Browse by Titles of Works Browse by Subjects of Works Browse by Issue Dates of Works
       

Advanced Search
Home   
 
Browse   
Communities
& Collections
  
Issue Date   
Author   
Title   
Subject   
 
Sign on to:   
Receive email
updates
  
My Account
authorized users
  
Edit Profile   
 
Help   
About T-Space   

T-Space at The University of Toronto Libraries >
School of Graduate Studies - Theses >
Master >

Please use this identifier to cite or link to this item: http://hdl.handle.net/1807/31292

Title: Visual Odometry Aided by a Sun Sensor and an Inclinometer
Authors: Lambert, Andrew
Advisor: Barfoot, Timothy D.
Department: Aerospace Science and Engineering
Keywords: Aerospace
Robotics
Visual Odometry
Sun Sensor
Issue Date: 12-Dec-2011
Abstract: Due to the absence of any satellite-based global positioning system on Mars, the Mars Exploration Rovers commonly track position changes of the vehicle using a technique called visual odometry (VO), where updated rover poses are determined by tracking keypoints between stereo image pairs. Unfortunately, the error of VO grows super-linearly with the distance traveled, primarily due to the contribution of orientation error. This thesis outlines a novel approach incorporating sun sensor and inclinometer measurements directly into the VO pipeline, utilizing absolute orientation information to reduce the error growth of the motion estimate. These additional measurements have very low computation, power, and mass requirements, providing a localization improvement at nearly negligible cost. The mathematical formulation of this approach is described in detail, and extensive results are presented from experimental trials utilizing data collected during a 10 kilometre traversal of a Mars analogue site on Devon Island in the Canadian High Arctic.
URI: http://hdl.handle.net/1807/31292
Appears in Collections:Master

Files in This Item:

File Description SizeFormat
Lambert_Andrew_J_201111_MASc_thesis.pdf18.64 MBAdobe PDF
View/Open

Items in T-Space are protected by copyright, with all rights reserved, unless otherwise indicated.

uoft