Panoramic Camera Testing
|The 1997 Antarctic Field Expedition of the Robotic Antarctic Meteorite
Search project has completed, and field testing of the panoramic camera
in Antarctic conditions has brought home lots of experience and gigabytes
of data for analysis.
The panoramic camera may be used in the future for several purposes.
Some potential uses include Landmark Based Navigation and Skyline Based
Position Estimation, which are discussed in this document, and also sun
tracking, which is discussed elsewhere.
report on the performance of the panoramic camera is available online.
Landmark Based Navigation:
Thirteen sequences of images were taken in three locations to use for
testing natural feature tracking and landmark based navigation. The sequences
came from the Independence Hills moraine, Patriot Hills moraine, and CMU
gif image sequences are being made available for some data sets.
Skyline Based Position Estimation:
A series of images were taken in the valley between Patriot and Independence
Hills. These images are tagged with position ground truth. Each image was
taken 500 meters or more from adjacent image locations, in a rough grid
shape. The images will be used for landmark based position estimation and
for skyline based position estimation tests. One image is shown below.
Click for larger image
Back to Experiment
Robotic Search for Antarctic Meteorites 1998
All material on this page is property of NASA and Carnegie Mellon
University. Any image or text
taken from this site and incorporated into another document without
consent violates the Copyright
Law of the United States and the Berne International Copyright
Send comments, questions, or suggestions to Dimitrios
This document prepared by Michael