Computer Science 5th Year Masters Presentation
Speaker
VARSHA KUMAR
Masters Student
Computer Science Department
Carnegie Mellon University
When
-
Where
In Person
Description
No rover to date has traveled to or imaged the lunar poles. The lack of atmosphere on the Moon and low elevation of the sun at the lunar poles creates regions of brilliant illumination, absolutely black shadow, and scenes containing both extremes. Rover perception at the lunar poles must create accurate depth models in these unprecedented circumstances. The research investigates stereo geometry, algorithms, lensing, exposures, material appearance, and terrain illumination unique to lunar poles. Additional considerations include processing on space-relevant computing and achieving the short cycle times essential for achieving continuous rover motion. The research formulates, implements, and evaluates an illuminated stereo system and software specialized for
lunar polar perception and deployment to the Moon. The resulting perception system will guide Carnegie Mellon’s autonomous MoonRanger micro-rover that will map ice on the lunar south pole in 2023.
Thesis Committee:
Red Whittaker (Chair)
David Wettergreen
Additional Information