@InProceedings{Marc-IAC-2012,
  UPDATE  = { 2015-03-28 },
  IS = { zkontrolovano 28 Mar 2015 },
  author     = {Marc, Robert and Pajdla, Tomas and Joudrier, Luc},
  title      = {Sensitivity Analysis of Virtual Terrain Accuracy for
                  Vision Based Algorithms},
  year       = {2012},
  pages      = {1422-1429},
  booktitle  = {Proceedings of the International Astronautical Congress, IAC},
  publisher  = {International Astronautical Federation},
  address    = {94 bis, Avenue de Suffren, 75015 Paris, France},
  isbn       = {978-1-62276-979-7},
  volume     = {2},
  book_pages = {11986},
  month      = {October},
  day        = {1-5},
  venue      = {Naples, Italy},
  annote     = {A number of three-dimensional virtual environments are
                  available for the development of vision-based
                  robotics. These have the advantage of repeated
                  trials at low cost compared to field
                  testing. However, virtual environments still suffer
                  from a lack of realism and credibility for
                  validation and verification. This work presents the
                  creation and validation of state of the art virtual
                  terrains for research in Martian rover vision-based
                  navigation algorithms. The paper focuses on the
                  creation of virtual environments, which are precise
                  imitations of the planetary terrain test-bed at the
                  European Space Research and Technology Centre
                  (ESTEC) site. Two different techniques are used to
                  recreate the Martian-like site in a simulator. The
                  first method uses a novel multi-view stereo
                  reconstruction technique; the latter uses a high
                  precision laser scanning system to accurately map
                  the terrain. Comparison of the real environment to
                  the virtual environments is done at various
                  locations by making use of captured stereo camera
                  images. Ultimately, the differences will be
                  characterized by the main known feature detectors
                  (e.g. Harris, SURF, and SIFT). The present work
                  follow on aims at the creation and validation of a
                  database containing highly realistic virtual
                  terrains which can be found on Mars for the purpose
                  of vision-based control algorithms verification.},
  keywords   = {Laser scanning systems; Multi-view stereo
                  reconstruction; Planetary terrains; Real
                  environments; Validation and verification; Vision
                  based algorithms; Vision based control; Vision based
                  navigation},
  prestige   = {international},
  project    = {FP7-SME-2011-285839 De-Montes},
  authorship = {34-33-33},
}