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Uncertainty-Based Vibration/Gyro Composite Planetary Terrain Mapping
Accurate perception of the detected terrain is a precondition for the planetary rover to perform its own mission. However, terrain measurement based on vision and LIDAR is subject to environmental changes such as strong illumination and dust storms. In this paper, considering the influence of uncert...
Autores principales: | , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2019
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6631722/ https://www.ncbi.nlm.nih.gov/pubmed/31200583 http://dx.doi.org/10.3390/s19122681 |
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author | Bai, Chengchao Guo, Jifeng |
author_facet | Bai, Chengchao Guo, Jifeng |
author_sort | Bai, Chengchao |
collection | PubMed |
description | Accurate perception of the detected terrain is a precondition for the planetary rover to perform its own mission. However, terrain measurement based on vision and LIDAR is subject to environmental changes such as strong illumination and dust storms. In this paper, considering the influence of uncertainty in the detection process, a vibration/gyro coupled terrain estimation method based on multipoint ranging information is proposed. The terrain update model is derived by analyzing the measurement uncertainty and motion uncertainty. Combined with Clearpath Jackal unmanned vehicle—the terrain mapping accuracy test based on ROS (Robot Operating System) simulation environment—indoor Optitrack auxiliary environment and outdoor soil environment was completed. The results show that the proposed algorithm has high reconstruction ability for a given scale terrain. The reconstruction accuracy in the above test environments is within 1 cm, 2 cm, and 6 cm, respectively. |
format | Online Article Text |
id | pubmed-6631722 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2019 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-66317222019-08-19 Uncertainty-Based Vibration/Gyro Composite Planetary Terrain Mapping Bai, Chengchao Guo, Jifeng Sensors (Basel) Article Accurate perception of the detected terrain is a precondition for the planetary rover to perform its own mission. However, terrain measurement based on vision and LIDAR is subject to environmental changes such as strong illumination and dust storms. In this paper, considering the influence of uncertainty in the detection process, a vibration/gyro coupled terrain estimation method based on multipoint ranging information is proposed. The terrain update model is derived by analyzing the measurement uncertainty and motion uncertainty. Combined with Clearpath Jackal unmanned vehicle—the terrain mapping accuracy test based on ROS (Robot Operating System) simulation environment—indoor Optitrack auxiliary environment and outdoor soil environment was completed. The results show that the proposed algorithm has high reconstruction ability for a given scale terrain. The reconstruction accuracy in the above test environments is within 1 cm, 2 cm, and 6 cm, respectively. MDPI 2019-06-13 /pmc/articles/PMC6631722/ /pubmed/31200583 http://dx.doi.org/10.3390/s19122681 Text en © 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Bai, Chengchao Guo, Jifeng Uncertainty-Based Vibration/Gyro Composite Planetary Terrain Mapping |
title | Uncertainty-Based Vibration/Gyro Composite Planetary Terrain Mapping |
title_full | Uncertainty-Based Vibration/Gyro Composite Planetary Terrain Mapping |
title_fullStr | Uncertainty-Based Vibration/Gyro Composite Planetary Terrain Mapping |
title_full_unstemmed | Uncertainty-Based Vibration/Gyro Composite Planetary Terrain Mapping |
title_short | Uncertainty-Based Vibration/Gyro Composite Planetary Terrain Mapping |
title_sort | uncertainty-based vibration/gyro composite planetary terrain mapping |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6631722/ https://www.ncbi.nlm.nih.gov/pubmed/31200583 http://dx.doi.org/10.3390/s19122681 |
work_keys_str_mv | AT baichengchao uncertaintybasedvibrationgyrocompositeplanetaryterrainmapping AT guojifeng uncertaintybasedvibrationgyrocompositeplanetaryterrainmapping |