FPGA-based path-planning of high mobility rover for future planetary missions

2012 19th IEEE International Conference on Electronics, Circuits, and Systems, ICECS 2012

Volumn , Issue , 2012, Pages 85-88

  Lentaris, G ^a   Diamantopoulos, D ^a   Stamoulias, G ^a   Siozios, K ^a   Soudris, D ^a   Aviles Rodrigalvarez, M ^b  

^a NATIONAL TECHNICAL UNIVERSITY OF ATHENS   (Greece)

^b GMV   (Spain)

Author keywords

Computer Vision Algorithms; FPGA implementation; High Performance; HW SW co design; Space Application

Indexed keywords

3D RECONSTRUCTION; ALGORITHMIC LEVELS; COMPUTER VISION ALGORITHMS; COMPUTING SYSTEM; CONTROL FLOWS; FPGA DEVICES; FPGA IMPLEMENTATIONS; HIGH MOBILITY; HIGH-PERFORMANCE; HW/SW CODESIGN; LOCATION ESTIMATES; MAP RECONSTRUCTION; MARS ROVERS; PLANETARY EXPLORATION ROVERS; PLANETARY MISSION; REAL TIME CONSTRAINTS; ROBOTIC VEHICLES; ROVER PATH PLANNING; VISUAL ODOMETRY;

COMPUTER VISION; INTERPLANETARY SPACECRAFT; ROBOTICS; SPACE APPLICATIONS; SPACE FLIGHT;

MOTION PLANNING;

EID: 84874631519     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICECS.2012.6463793     Document Type: Conference Paper

References (8)

1. ESA-ROSCOSMOS ExoMars programme 2016-2018
2. Virtex-6 FPGA Family. http://www.xilinx.com/products/silicon-devices/ fpga/virtex-6/index.htm.
3. ESA Compatible VHDL, http://www.esa.int/TEC/Microelectronics/SEMS7EV681F- 0.html
4. ROS, the Robot Operating System. http://www.ros.org
5. K. Siozios, et.al., "SPARTAN Project: Efficient Implementation of Computer Vision Algorithms onto Reconfigurable Platform Targeting to Space Applications", International Workshop on Reconfigurable Communication Centric Systems-on-Chip, pp. 1-9, 2011.
6. D. Diamantopoulos, et.al. "On profiling computer vision algorithms for rover navigation", Adaptive Hardware and Systems (AHS), 2012
7. G. Lentaris, et.al. "Hardware implementation of stereo correspondence algorithm for the Exomars mission", International Conference on Field Programmable Logic and Applications (FPL), 2012
8. P. Poulakis, et. al. 3DROV: A Planetary Rover System Design, Simulation and Verification Tool. iSAIRAS 2008.