Mars Sample Return

Return Martian soil samples to Earth.

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Period of Performance: 2016–2021
My role: Machine-vision lead for NASA/JPL
Additional Contributors: Publication authors (see References below).
Project website: mars.nasa.gov/msr/
sponsor Funded by NASA.
sponsor Funded by NASA's Jet Propulsion Laboratory (JPL).
project thumbnail

Return Martian soil samples to Earth.

If first html tag is indented, and this include is called after a list, the html tag is considered a list element, and things go wrong. Leaving a hidden unindented line here
Period of Performance: 2016–2021
My role: Machine-vision lead for NASA/JPL
Additional Contributors: Publication authors (see References below).
Project website: mars.nasa.gov/msr/
sponsor Funded by NASA.
sponsor Funded by NASA's Jet Propulsion Laboratory (JPL).
project thumbnail

I led NASA/JPL’s MSR machine vision task (2017-2021). My team studied the feasibility of visually localizing and retrieving the 36 metal sample tubes that Perseverance is currently releasing on the ground at Jezero Crater. Our work critically informed the mission on what locations are suitable for the rover to place its tubes to maximize the probability that the tubes could be visually localized and retrieved by an autonomous rover (Daftry et al., 2021; Pham et al., 2021; Pham et al., 2020; Lee et al., 2018; Papon et al., 2017).

References

  1. Machine Vision based Sample-Tube Localization for Mars Sample Return.
    Shreyansh Daftry, Barry Ridge, William Seto, Tu-Hoa Pham, Peter Ilhardt, Gerard Maggiolino, Mark Merwe, Alex Brinkman, John Mayo, Eric Kulczyski, and Renaud Detry.
    In IEEE Aerospace Conference, 2021.
    Bib DOI PDF
  2. Rover Relocalization for Mars Sample Return by Virtual Template Synthesis and Matching.
    Tu-Hoa Pham, William Seto, Shreyansh Daftry, Barry Ridge, Johanna Hansen, Tristan Thrush, Mark Van Merwe, Gerard Maggiolino, Alexander Brinkman, John Mayo, Yang Cheng, Curtis Padgett, Eric Kulczycki, and Renaud Detry.
    IEEE Robotics and Automation Letters, 2021.
    Bib DOI PDF
  3. Rover Localization for Tube Pickup: Dataset, Methods and Validation for Mars Sample Return Planning.
    Tu-Hoa Pham, William Seto, Shreyansh Daftry, Alexander Brinkman, John Mayo, Yang Cheng, Curtis Padgett, Eric Kulczycki, and Renaud Detry.
    In IEEE Aerospace Conference, 2020.
    Bib DOI PDF
  4. Monocular Visual Pose Estimation via Online Sampling for Mars Sample-Tube Pickup.
    Bhoram Lee, Renaud Detry, Jasmine Moreno, Daniel D. Lee, and Eric Kulczycki.
    In IEEE Aerospace Conference, 2018.
    Bib DOI PDF
  5. Martian Fetch: Finding and Retrieving Sample-Tubes on the Surface of Mars.
    Jeremie Papon, Renaud Detry, Peter Vieira, Sawyer Brooks, Thirupathi Srinivasan, Ariel Peterson, and Eric Kulczycki.
    In IEEE Aerospace Conference, 2017.
    Bib DOI PDF