Kinematic-Vision Residuals Analysis

This paper describes the design, validation, and integration of a tool to locate a portion of the instrument deployment device (IDD) on the Mars exploration rover (MER) vehicles on Mars in imagery from the front hazard avoidance cameras, and to track the differences between the predicted and detected position of the manipulator over time. The analysis of kinematic-vision residuals, or the difference between where a manipulator is expected to appear in onboard imagery and where it actually appears in the imagery, yields insight into several aspects of an operational robotic system. The fidelity of the IDD and camera models is evaluated. Systematic changes in the performance over time can give insight to rover degradation or other changes. Finally, new models can be proposed and evaluated on the basis of trended data over time.