NASA Mars rover: a testbed for evaluating applications of covariance intersection

Jeffrey K. Uhlmann; Simon J. Julier; Behzad Kamgar-Parsi; Marco O. Lanzagorta; Haw-Jye S. Shyu

doi:10.1117/12.354442

22 July 1999 NASA Mars rover: a testbed for evaluating applications of covariance intersection

Jeffrey K. Uhlmann, Simon J. Julier, Behzad Kamgar-Parsi, Marco O. Lanzagorta, Haw-Jye S. Shyu

Proceedings Volume 3693, Unmanned Ground Vehicle Technology; (1999) https://doi.org/10.1117/12.354442
Event: AeroSense '99, 1999, Orlando, FL, United States

Abstract

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.

Citation Download Citation

Jeffrey K. Uhlmann, Simon J. Julier, Behzad Kamgar-Parsi, Marco O. Lanzagorta, and Haw-Jye S. Shyu "NASA Mars rover: a testbed for evaluating applications of covariance intersection", Proc. SPIE 3693, Unmanned Ground Vehicle Technology, (22 July 1999); https://doi.org/10.1117/12.354442

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