Immersive Visualization for Navigation and Control of the Mars Exploration Rovers

Frank Rudolf Hartman, Brian Cooper, Scott Maxwell, John Wright, Jeng Yen
2004 Space OPS 2004 Conference   unpublished
The Rover Sequencing and Visualization Program (RSVP) is a suite of tools for sequencing of planetary rovers, which are subject to significant light time delay and thus are unsuitable for tele-operation. The tools build on the heritage of the Mars Pathfinder mission and its lessons learned [1][2]. The two main components of the RSVP suite are the Rover Sequence Editor (RoSE) and HyperDrive. These two tools and several others in the RSVP suite communicate sequence information using a unique data
more » ... bus architecture implemented using the Parallel Virtual Machine (PVM) library. This paper will focus on HyperDrive, the immersive visualization component of the system, and its role in analyzing past rover performance and in generating command sequences for future rover activities. HyperDrive is based on providing several immersive views into a unified three dimensional database which consists of CAD models of the MER rover, instrument deployment device (IDD) and lander, raw image data, three dimensional terrain models derived from stereo image data, a spatial representation of
doi:10.2514/6.2004-624-420 fatcat:5j4724qicbaxbmitxq7m5osope