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Mobility assessment and prediction continues to be an important and active area of research for planetary rovers, with the need illustrated by multiple examples of high slip events experienced by rovers on Mars. Despite slip versus slope being one of the strongest and most broadly used relationships in mobility prediction, this relationship is nonetheless far from precisely predictable. Although the...
Planetary rovers face mobility hazards associated with various classes of terrains they traverse: sand, bedrock, and rock-strewn terrain. This work develops visual classifiers for these 3 terrain types for single monochrome navigation images from the NASA Mars Exploration Rover missions. The classifiers are based primarily on visual texture, captured in histograms of edges filter responses at various...
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