Hierarchical multisensor analysis for robotic exploration

Susan J. Eberlein; Gigi Yates; Eric Majani

doi:10.1117/12.25502

1 March 1991 Hierarchical multisensor analysis for robotic exploration

Susan J. Eberlein, Gigi Yates, Eric Majani

Proceedings Volume 1388, Mobile Robots V; (1991) https://doi.org/10.1117/12.25502
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

Robotic vehicles for lunar and Mars exploration will carry an array of complex instruments requiring real-time data interpretation and fusion. The system described here uses hierarchical multiresolution analysis of visible and multispectral images to extract information on mineral composition, texture and object shape. This information is used to characterize the site geology and choose interesting samples for acquisition. Neural networks are employed for many data analysis steps. A decision tree progressively integrates information from multiple instruments and performs goal-driven decision making. The system is designed to incorporate more instruments and data types as they become available.

Citation Download Citation

Susan J. Eberlein, Gigi Yates, and Eric Majani "Hierarchical multisensor analysis for robotic exploration", Proc. SPIE 1388, Mobile Robots V, (1 March 1991); https://doi.org/10.1117/12.25502

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