The NASA Mars rover: A testbed for evaluating applications of covariance intersection

被引：13

作者：

Uhlmann, J ^{[1
]}

Julier, S ^{[1
]}

Kamgar-Parsi, B ^{[1
]}

Lanzagorta, M ^{[1
]}

Shyu, HJ ^{[1
]}

机构：

[1] USN, Res Lab, Div Informat Technol, Washington, DC 20375 USA

来源：

UNMANNED GROUND VEHICLE TECHNOLOGY | 1999年 / 3693卷

关键词：

D O I：

10.1117/12.354442

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The Naval Research Laboratory (NRL) has spearheaded the development and application of Covariance Intersection (CI) for a variety of decentralized data fusion problems. Such problems include distributed control, onboard sensor fusion, and dynamic map building and localization. In this paper we describe NRL's development of a CI-based navigation system for the NASA Mars rover that stresses almost all aspects of decentralized data fusion. We also describe how this project relates to NRL's augmented reality, advanced visualization, and REBOT projects.

引用

页码：140 / 149

页数：10

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