Final project for ROB501: Computer vision for robotics.

Developed a modularized Python tool to generate orthographic maps (bird’s eye views) using omnidirectional stereo imagery collected by a rover at ground level on a simulated Martian terrain. Tested several methods for generating a realistic composite with minimal visual artifacts from multiple rover runs and cameras. Made use of data from the Canadian Planetary Emulation Terrain Energy-Aware Rover Navigation Dataset.

Results

A high-resolution orthographic map produced using all available data and tuned parameters is shown below.

orthophoto_cl0.01_pd0.025_w1_plot.png

Project report

rob501_fall_2020_final_project_report.pdf

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