4 papers
PRISM: Multimodal Terrain Mapping for Rover Navigation in Unstructured Environments
Raul Castilla-Arquillo, Carlos Perez-del-Pulgar, Levin Gerdes +2
Robotic navigation in unstructured environments requires robust situational awareness to safely traverse hazards such as steep slopes and rocky terrain. To address this challenge,…
High-fidelity 3D reconstruction for planetary exploration
Alfonso MartÃnez-Petersen, Levin Gerdes, David RodrÃguez-MartÃnez +1
Planetary exploration increasingly relies on autonomous robotic systems capable of perceiving, interpreting, and reconstructing their surroundings in the absence of global position…
OmniUnet: A Multimodal Network for Unstructured Terrain Segmentation on Planetary Rovers Using RGB, Depth, and Thermal Imagery
Raul Castilla-Arquillo, Carlos Perez-del-Pulgar, Levin Gerdes +2
Robot navigation in unstructured environments requires multimodal perception systems that can support safe navigation. Multimodality enables the integration of complementary inform…
Field Assessment of Force Torque Sensors for Planetary Rover Navigation
Levin Gerdes, Carlos Pérez del Pulgar, Carlos Pérez del Pulgar +3
Proprioceptive sensors on planetary rovers serve for state estimation and for understanding terrain and locomotion performance. While inertial measurement units (IMUs) are widely u…