Natural Landmark Based Navigation

This is the main page for all documentation regarding the Natural Landmark Based Navigation project. The overall goal of this research effort is to develop a means for an autonomous rover to use vision to improve estimates of its own pose by using naturally occurring terrain features as landmarks. The approach assumes that the rover is given no a priori map information, and so must estimate where the landmarks are in order to use them to estimate its own pose.

The effort has been broken down into several smaller components which will be described at length as things progress. Documentation for these smaller components will appear as links from this page as it emerges.

Documentation currently available:

Template based visual tracking
Updating the feature template
Tracking using the SLOG operator
Estimating landmark locations
Estimating rover pose from landmarks
Development of a panoramic imaging device for visual landmark based navigation for Robotic Antarctic Meteorite Search
Tracking in panoramic sequences from the Antarctic

This page is maintained by Matthew Deans, a robograd in the Carnegie Mellon University School of Computer Science.
Comments? Questions? Mail me at deano@ri.cmu.edu
Last Modified November 18th, 1997