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Quasi-thematic feature detection and tracking for future rover long-distance autonomous navigation

Shaukat, A, Spiteri, C, Gao, Y, Al-Milli, S and Bajpai, A (2013) Quasi-thematic feature detection and tracking for future rover long-distance autonomous navigation In: 12th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 2013-05-15 - 2013-05-17, ESA/ESTEC, Noordwijk, the Netherlands.

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Abstract

This paper investigates state-of-the-art approaches for object detection and tracking employing models that can efficiently detect objects (specifically 'rock’ on planet surfaces) in the visual scene in terms of semantic descriptions. Two models (i.e., “visual saliency” and “blob (shape-based) detection”) are presented here specifically focused towards future planetary exploration rovers. We believe that these two object detection techniques will abate some of the algorithmic limitations of existing methods with no training requirements, lower computational complexity and greater robustness towards visual tracking applications over long-distance planetary terrains. Comprehensive (quantitative) experimental analysis of the proposed techniques performed using three challenging benchmark datasets (i.e., from PANGU, RAL Space SEEKER and SSC lab-based test-bed) will be presented in this paper.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Authors :
NameEmailORCID
Shaukat, Aa.shaukat@surrey.ac.ukUNSPECIFIED
Spiteri, CUNSPECIFIEDUNSPECIFIED
Gao, Yyang.gao@surrey.ac.ukUNSPECIFIED
Al-Milli, Ss.al-milli@surrey.ac.ukUNSPECIFIED
Bajpai, AUNSPECIFIEDUNSPECIFIED
Date : 17 May 2013
Contributors :
ContributionNameEmailORCID
publisherESA/ESTEC, UNSPECIFIEDUNSPECIFIED
Related URLs :
Depositing User : Symplectic Elements
Date Deposited : 17 May 2017 12:50
Last Modified : 17 May 2017 15:06
URI: http://epubs.surrey.ac.uk/id/eprint/836946

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