Picture gallery

Mars Pathfinder

	A view of the Pathfinder local site with a synthetic model of the lander.
	Cows on Mars ! A glimpse of the Markers capabilities of Viz.
	Water on Mars !! The Viz Isoplane in Viz is a blue semi-transparent horizontal plane that can be raised or lowered to show the terrain topology.
	Multiple views of the Pathfinder dataset from an early version of Viz. In the foreground, the Viz Shell window: a command line interface to Viz.

Mars Polar Lander - Mars Volatile and Climate Surveyor

	The synthetic model of the lander with the robotic arm and the Virtual Robot interface (to simulate arm movements). Note the color-textured meshes in the background.
	One the of the Polar Lander missions was to dig a trench. Here are different 3D models of the pile of sand resulting from a simulated trench dug in the sandbox during an ORT.
	Different shots of the simulated trench. We placed the synthetic model of the Robotic Arm to give an idea of how the trench digging was performed. Note the yellow box on the Robotic Arm representing the Robotic Arm Camera. We actually have the capabilities of replaying in Viz the sequences that would be uplinked to the lander on Mars.
	In order to help the science team plan their sequences, different tools were implemented in Viz to represent the different characteristics of the Surface Stereo Imager (SSI camera) such as the field of views of the left and right eye, as well as stereo coverage (the pyramids you see in pink and blue coming from the SSI). We could also simulate the kinematics of the SSI, allowing us to rotate the SSI and see what would be imaged on the ground, for instance.

Other projects

	The Marsokhod Field experiment was conducted by the Intelligent Mechanisms Group in February 99 in the Mojave desert in California. Hundreds of stereo images were downlinked to NASA Ames (ground ops) to be processed into 3D terrain models. The image shows how we integrated the local dataset (in color) into a larger digital elevation map (DEM) from USGS (upper right view). We also integrated the simulated descent images on the DEM. The upper-left view shows the wireframe of the terrain model.
	Illustration of the Robot Colony concept. This is not a corrected image. We actually put synthetic 3D models of the walker robot on the Pathfinder terrain.
	The Autonomy and Robotics Area is developing a snake robot. We used Viz to visualize output of snake simulations (contact Gary Haith).
	This is the Mars South Pole demo. We integrated high-resolution MOC images (about 16m/pixel) onto a lower resolution elevation map from Viking data.
	This simulation of a 6-legged robot walking on terrain was developed by Nick Vallidis and interfaced with Viz during the summer 98.
	Marion Smith from Carnegie Mellon University is working on Distributed Robot Architectures.

Markers in Viz (annotating 3D models)

	The Cow on the sandbox. Note the relative size with the Polar Lander.
	Naming rocks is a common use of Markers.
	Models of darts can be used to designate points.
	Human figures and cans on the table are visual cues to show the size of things.
	Another view of the press conference area of the Mission ops facility at UCLA (Mars Polar Lander).
	Palm trees in the press area !

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