Robert Steinke

Performance Analysis and Validation of a Stereo Vision System

This paper presents an in-depth performance analysis and validation of a correlation based stereo vision system being used as part of the ongoing 2003 Mars Exploration Rover flight mission. Our analysis includes the effects of correlation window size, pyramidal image down-sampling, vertical misalignment, focus, maximum disparity, stereo baseline, and range ripples. A key element of validation is to determine the stereo localization error both analytically and experimentally. We study both down-range and cross-range error and verify that while camera calibration inaccuracy contributes to both, stereo correlation error affects only the former. Error contributions of subpixel interpolation, vertical misalignment, and foreshortening on stereo correlation are examined carefully. A novel method using bricks with reflective metrology targets and a mast-mounted stereo camera system enabled experimental measurements of the stereo disparity error. The standard deviation of the down-range disparity error was measured at sigma=0.32 pixel for high-resolution 1024times768 camera images. The result is critical in evaluating accurate rover navigation and instrument placement within given error budgets

The science activity planner for the mars exploration rover mission: fido field test results

The science activity planning process for the 2003 Mars Exploration Rover (MER) mission was exercised in a ten day terrestrial rover field test in August 2002. A version of the MER mission Science Activity Planner (SAP) tool was used for downlink data visualization and uplink plan generation.

Group collaboration for Mars rover mission operations

Group collaboration capabilities have been developed for Internet-based Mars rover mission operations. Internet-based operations enables scientists to participate in daily Mars rover mission operations from their home institutions. Group collaboration enables geographically separated users to collaboratively analyze downlinked data and plan new activities for the rover. The motivation for group collaboration in Mars rover mission operations and the technologies developed to provide group collaboration are discussed. The group collaboration capability was developed for use in rover mission operations in the 2003 NASA Mars Exploration Rover mission.

Relating downlink products to uplink commands in Mars rover operations

Downlink data products in Mars rover missions need to be associated with their uplink commanded target locations and the uplink commands that produced them. A system for automatically associating downlink data products with uplink commands and targets has been developed and used in a terrestrial rover field test. HTML reports viewable in a browser are automatically generated to relate downlink data products with the uplink sequence elements that produced them. The approach assumes that there is only one sequence thread being executed on the rover. This assumption is not true for the 2003 Mars Exploration Rover mission, so the approach cannot be used directly in the MER mission.

Mars mission science operations facilities design

A variety of designs for Mars rover and lander science operations centers are discussed in this paper, beginning with a brief description of the Pathfinder science operations facility and its strengths and limitations. Particular attention is then paid to lessons learned in the design and use of operations facilities for a series of mission-like field tests of the FIDO prototype Mars rover. These lessons are then applied to a proposed science operations facilities design for the 2003 Mars Exploration Rover (MER) mission. Issues discussed include equipment selection, facilities layout, collaborative interfaces, scalability, and dual-purpose environments. The paper concludes with a discussion of advanced concepts for future mission operations centers, including collaborative immersive interfaces and distributed operations. This papers intended audience includes operations facility and situation room designers and the users of these environments.