Sensitivity analysis of virtual terrain accuracy for vision-based algorithms

Paper number

IAC-12,A3,3A,12.p1,x16034

Author

Mr. Róbert Marc, Czech Technical University In Prague, Switzerland

Coauthor

Mr. Luc Joudrier, European Space Agency (ESA), The Netherlands

Coauthor

Mr. Tomas Pajdla, Czech Technical University In Prague, Czech Republic

Year

2012

Abstract

A number of 3D virtual environments are available to develop vision-based robotic capabilities. They have the advantage of repeatability at low cost compared to real testing. However, they still suffer from a lack of realism and credibility for validation and verification, especially when considering the immense variety of terrain types. This work explores the existing void in this direction.
The paper focuses on the creation of a virtual environment as accurately as possible by projecting texture onto a DEM (Digital Elevation Map). With the help of a small terrain with RIEGL laser scanner and an accurate positioning system called VICON, we will compare the real environment and the virtual environment at the same locations.
Ultimately, we will characterize the differences in feature selection from the main known feature (e.g. Harris, SURF, and SWIFT) depending on the level of details of the virtual terrain.
This work should lead to creation of a highly realistic virtual database of the possible terrains which can be found on Mars for the purpose of vision-based control algorithms verification.

Abstract document

IAC-12,A3,3A,12.p1,x16034.brief.pdf

Manuscript document

IAC-12,A3,3A,12.p1,x16034.pdf (🔒 authorized access only).

To get the manuscript, please contact IAF Secretariat.