Assisting Spectral Mapping using Cameras
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2023
Abstract
Spectral mapping, typically performed at the orbital scale, is hard at the rover scale as it necessitates larger coverage and field operable spectrometers. In this work, we propose using RGB cameras to assist spectral mapping. RGB cameras placed on a wide range of robotic platforms, including aerial vehicles, which can explore large regions compared to ground rovers. Our method uses a spectral model which learns the spatial relationship of spectra in a compressed feature space. We show that RGB data can contribute to this feature space and thereby enhance spectral reconstruction accuracy.
BibTeX
@conference{Vijayarangan-2023-145615,author = {Srinivasan Vijayarangan and David Wettergreen},
title = {Assisting Spectral Mapping using Cameras},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2023},
month = {October},
keywords = {Space vehicles;Robot vision systems;NASA;Cameras;Solar system;Planetary orbits;Intelligent robots},
}
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