Vision based Navigation by landmark for robotic explorer

Takashi Kubota; Tatsuaki Hasimoto; Jun'ichiro Kawaguchi; Ken'ichi Shirakawa; Hideo Morita; Masashi Uo

doi:10.1109/ROBIO.2009.4913166

Vision based Navigation by landmark for robotic explorer

Takashi Kubota, Tatsuaki Hasimoto, Jun'ichiro Kawaguchi, Ken'ichi Shirakawa, Hideo Morita, Masashi Uo

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

12 Citations (Scopus)

Abstract

The rendezvous and landing missions are very significant for scientific explorations. In such missions, the navigation and guidance based on image data is very important. The spacecraft Hayabusa performed the descent flights to the target asteroid Itokawa in November of 2005. To accurately determine the spacecraft position, a landmark tracking scheme with the help of the ground operation was introduced and developed in the Hayabusa mission. The Hayabusa project team developed new tools that combinedhuman assist with the computer aided terminal display. The proposed landmark tracking scheme contributed to the successful precise navigation to the specified area on the surface. This paper presents a visual navigation method with the landmark tracking used for the Hayabusa mission.

Original language	English
Title of host publication	2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
Publisher	IEEE Computer Society
Pages	1170-1175
Number of pages	6
ISBN (Print)	9781424426799
DOIs	https://doi.org/10.1109/ROBIO.2009.4913166
Publication status	Published - 2009
Externally published	Yes
Event	2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 - Bangkok, Thailand Duration: 2009 Feb 21 → 2009 Feb 26

Publication series

Name	2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008

Other

Other	2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008
Country/Territory	Thailand
City	Bangkok
Period	09/2/21 → 09/2/26

Keywords

Landmark tracking
Robotic exploration
Visual navigation

ASJC Scopus subject areas

Biotechnology
Artificial Intelligence
Computer Vision and Pattern Recognition
Electrical and Electronic Engineering

Access to Document

10.1109/ROBIO.2009.4913166

Cite this

Kubota, T., Hasimoto, T., Kawaguchi, J., Shirakawa, K., Morita, H., & Uo, M. (2009). Vision based Navigation by landmark for robotic explorer. In 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 (pp. 1170-1175). [4913166] (2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008). IEEE Computer Society. https://doi.org/10.1109/ROBIO.2009.4913166

Vision based Navigation by landmark for robotic explorer. / Kubota, Takashi; Hasimoto, Tatsuaki; Kawaguchi, Jun'ichiro et al.

2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008. IEEE Computer Society, 2009. p. 1170-1175 4913166 (2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kubota, T, Hasimoto, T, Kawaguchi, J, Shirakawa, K, Morita, H & Uo, M 2009, Vision based Navigation by landmark for robotic explorer. in 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008., 4913166, 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008, IEEE Computer Society, pp. 1170-1175, 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008, Bangkok, Thailand, 09/2/21. https://doi.org/10.1109/ROBIO.2009.4913166

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abstract = "The rendezvous and landing missions are very significant for scientific explorations. In such missions, the navigation and guidance based on image data is very important. The spacecraft Hayabusa performed the descent flights to the target asteroid Itokawa in November of 2005. To accurately determine the spacecraft position, a landmark tracking scheme with the help of the ground operation was introduced and developed in the Hayabusa mission. The Hayabusa project team developed new tools that combinedhuman assist with the computer aided terminal display. The proposed landmark tracking scheme contributed to the successful precise navigation to the specified area on the surface. This paper presents a visual navigation method with the landmark tracking used for the Hayabusa mission.",

keywords = "Landmark tracking, Robotic exploration, Visual navigation",

author = "Takashi Kubota and Tatsuaki Hasimoto and Jun'ichiro Kawaguchi and Ken'ichi Shirakawa and Hideo Morita and Masashi Uo",

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doi = "10.1109/ROBIO.2009.4913166",

language = "English",

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series = "2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008",

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AU - Hasimoto, Tatsuaki

AU - Kawaguchi, Jun'ichiro

AU - Shirakawa, Ken'ichi

AU - Morita, Hideo

AU - Uo, Masashi

PY - 2009

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AB - The rendezvous and landing missions are very significant for scientific explorations. In such missions, the navigation and guidance based on image data is very important. The spacecraft Hayabusa performed the descent flights to the target asteroid Itokawa in November of 2005. To accurately determine the spacecraft position, a landmark tracking scheme with the help of the ground operation was introduced and developed in the Hayabusa mission. The Hayabusa project team developed new tools that combinedhuman assist with the computer aided terminal display. The proposed landmark tracking scheme contributed to the successful precise navigation to the specified area on the surface. This paper presents a visual navigation method with the landmark tracking used for the Hayabusa mission.

KW - Landmark tracking

KW - Robotic exploration

KW - Visual navigation

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Vision based Navigation by landmark for robotic explorer

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Keywords

ASJC Scopus subject areas

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