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Issue No.03 - May/June (2004 vol.19)
pp: 13-21
Yang Cheng , Jet Propulsion Laboratory
Jay Goguen , Jet Propulsion Laboratory
Andrew Johnson , Jet Propulsion Laboratory
Chris Leger , Jet Propulsion Laboratory
Larry Matthies , Jet Propulsion Laboratory
Miguel San Martin , Jet Propulsion Laboratory
Reg Willson , Jet Propulsion Laboratory
ABSTRACT
JPL's Descent Image Motion Estimation System is the first machine-vision system for estimating lander velocity during planetary descent. Composed of sensors and software, DIMES features a descent imager, a radar altimeter, an inertial-measurement unit, and an algorithm for combining sensor measurements to estimate horizontal velocity-the speed across the planet's surface the lander travels as it descends. Although the sensors are not novel technology, the algorithm and flight software that combines them are new. This algorithm combines radar, image, robust, and computationally efficient solution to the horizontal-velocity-estimation problem.
INDEX TERMS
machine vision, horizontal-velocity estimation
CITATION
Yang Cheng, Jay Goguen, Andrew Johnson, Chris Leger, Larry Matthies, Miguel San Martin, Reg Willson, "The Mars Exploration Rovers Descent Image Motion Estimation System", IEEE Intelligent Systems, vol.19, no. 3, pp. 13-21, May/June 2004, doi:10.1109/MIS.2004.18
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