Real-Time Integrated Navigation System for Planetary Exploration (RT-INSPEX), Phase II

Metadata Updated: August 1, 2018

For supporting NASA's efforts in enhancing robotic autonomy and off-loading work from operators and astronauts, American GNC Corporation has developed the "Real-Time Integrated Navigation System for Planetary Exploration" (RT-INSPEX) to provide autonomous navigation with GNSS-free localization, terrain awareness and traversability estimation, and local/global mapping of unknown environments. Key current capabilities are: (a) advanced image processing for visual odometry based on stereo processing and an innovative routine of feature detection, tracking, and pruning for highly accurate robot motion and position estimation; (b) improved localization by vision and inertial system fusion; (c) simultaneous online local and global mapping; and (d) vision and touch based terrain traversability estimation using a combination of environment classification, ground plane detection, and ground interface analysis. During Phase II, the system will be customized for operating in indoor and outdoor environments and for any robotic vehicle type with the goal of increased autonomy by providing a complete GNSS-free awareness of location, an understanding of surrounding environments, and the ability to navigate autonomously. Areas of work in Phase II include: (1) customization to NASA's robotic platforms such as Robonaut; (2) accurate localization over multiple kilometer distances without GNSS; (3) complete integrated touch and vision based traversability system; (4) holistic scene and indoor/outdoor environment understanding; (5) consistent global map generation with included traversability information; (6) optimal route planning with obstacle avoidance for autonomous navigation; (7) robustness to diverse or adverse conditions in indoor or planetary environments; and (8) verification & validation, embedded development, and implementation in robotic vehicles. The final system can be applied to a variety of systems for NASA, the military, and in the commercial sector.

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Public: This dataset is intended for public access and use. License: U.S. Government Work

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Dates

Metadata Created Date August 1, 2018
Metadata Updated Date August 1, 2018

Metadata Source

Harvested from NASA Data.json

Additional Metadata

Resource Type Dataset
Metadata Created Date August 1, 2018
Metadata Updated Date August 1, 2018
Publisher Space Technology Mission Directorate
Unique Identifier TECHPORT_89909
Maintainer
TECHPORT SUPPORT
Maintainer Email
Public Access Level public
Bureau Code 026:00
Metadata Context https://project-open-data.cio.gov/v1.1/schema/catalog.jsonld
Schema Version https://project-open-data.cio.gov/v1.1/schema
Catalog Describedby https://project-open-data.cio.gov/v1.1/schema/catalog.json
Harvest Object Id 97ed1e1d-e149-402d-a5a3-7d9900e3a322
Harvest Source Id 39e4ad2a-47ca-4507-8258-852babd0fd99
Harvest Source Title NASA Data.json
Data First Published 2018-05-01T07:00:00.000Z
Homepage URL https://techport.nasa.gov/view/89909
Language en-US
License http://www.usa.gov/publicdomain/label/1.0/
Data Last Modified 2017-12-07T00:00:00.000Z
Program Code 026:027
Publisher Hierarchy National Aeronautics and Space Administration > Space Technology Mission Directorate
Source Datajson Identifier True
Source Hash 0ab304094986b256a9ce6b85452af16e7f13d5d2
Source Schema Version 1.1

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