@inproceedings{oai:jaxa.repo.nii.ac.jp:00007333,
 author = {蘇, 懐恩 and 吉光, 徹雄 and 久保田, 孝 and So, Edmond Wai Yan and Yoshimitsu, Tetsuo and Kubota, Takashi},
 book = {アストロダイナミクスシンポジウム講演後刷り集, Proceedings of 19th workshop on JAXA Astrodynamics and Flight Mechanics},
 month = {Mar},
 note = {アストロダイナミクスシンポジウム (2009年7月30-31日. 宇宙航空研究開発機構宇宙科学研究本部)), Workshop on JAXA Astrodynamics and Flight Mechanics, 2009 (July 30-31, 2009. Institute of Space and Astronautical Science (ISAS), Japan Aerospace Exploration Agency (JAXA)), Sagamihara, Kanagawa Japan, Visual odometry is the use of camera images to estimate the motion of a mobile robot. This technique has been used successfully on the Mars Exploration Rovers, and real-time implementation has been realized for terrestrial ground and aerial vehicles. We adapt this technique to hopping rovers designed for exploration on the surface of asteroids., For a rover undergoing continuous rotation, we propose a system consisting of multiple cameras pointing in diverging directions to provide continuous observation of the terrain. A small-baseline stereo camera is used to estimate depth to close-range targets before a hop, providing an initial scale factor for structure-from-motion computation. During flight, a monocular approach is used to recover the relative motion between sequential images, and the initial scale factor is propagated through the image sequences to recover full translational motion., 形態: カラー図版あり, Physical characteristics: Original contains color illustrations, 資料番号: AA0064734028},
 pages = {166--172},
 publisher = {宇宙航空研究開発機構宇宙科学研究本部, Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA)},
 title = {Visual Odometry on a Hopping Rover},
 volume = {2009},
 year = {2010}
}