Multipurpose 3D Sensor for Planetary Rover Missions

Paper number

IAC-09.A3.2INT.15

Author

Mr. Ross Taylor, Neptec USA, United States

Coauthor

Mr. Adam Deslauriers, Neptec Design Group, Canada

Coauthor

Ms. Leanne Sigurdson, Norcat, Canada

Coauthor

Dr. David Wettergreen, Carnegie Mellon University, United States

Coauthor

Mr. Mark Sdao, Xiphos Technologies, Canada

Year

2009

Abstract

Planetary rover missions require sensing for obstacle avoidance and inspection of the rover’s surroundings to find areas of interest. Generally this is performed with an array of passive two dimensional (2D) cameras and often a stereo pair of cameras to provide three dimensional (3D) information. These passive sensors, however, are often difficult to use in the harsh lighting conditions that may be experienced on the moon or other planetary bodies and are not useful in areas where sunlight is not available. In addition, stereo cameras may not provide the level of 3D accuracy required for some inspection tasks.


Neptec’s TriDAR is a multipurpose 3D scanning laser system that contains both laser triangulation and laser time-of-flight technologies. Triangulation uses a continous wave laser and autosynchronous scanning optics to provide high resolution 3D data at relatively close range while time-of-flight measures the time required for a pulse of light to return from objects to produce medium resolution 3D data from close to far range. As such, these technologies compliment each other to provide highly precise short-range inspection capability and longer range navigation capability. In addition, both of these active sensing technologies eliminate the lighting concerns of passive sensors. 


TriDAR was field tested at a lunar analog testing facility on Mauna Kea, Hawaii in November 2008. The sensor was installed on Carnegie Mellon University’s (CMU) Scarab rover and used by CMU’s navigation software for obstacle avoidance and path planning. The Scarab rover is designed to drill cores of lunar regolith with a drill designed by the Northern Centre for Advanced Technologies (NORCAT). Once the rover had approached a potential drilling site, a dense TriDAR scan was collected for surface inspection to identify ideal locations for sample drilling based on geotechnical criteria produced by NORCAT. With a site selected, the TriDAR was again used for a very close range inspection of the site to verify that it meets the specified criteria before drilling begins.

Abstract document

IAC-09.A3.2INT.15.pdf

Manuscript document

IAC-09.A3.2INT.15.pdf (🔒 authorized access only).

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