3D surface mapping using a semi-autonomous rover: A planetary analog field experiment
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
This paper describes a proposed operational architecture for a planetary worksite mapping mission concept. To map three-dimensional (3D) planetary terrain, we pro-pose to use a rover equipped with a laser rangefinder, and employ a stop-scan-go approach with a human-in-the-loop. In the operational cycle, the rover collects locally consis-tent 3D range data while stationary. The range data are coupled with visual odometry to estimate the rover pose at each scan and create a consistent 3D map. The 3D map is then used to evaluate candidate next-best views (NBV). The operator selects a NBV with the aid of three evalu-ation criteria and the rover autonomously travels to the NBV using a network of reusable paths (NRP). Finally, the rover collects another 3D scan and the cycle repeats. This mission concept was validated through hardware ex-periments on the CSA’s Mars Emulation Terrain (MET), which measures 60m × 120m and includes inclines, rocks, cliffs and a 5.5m-diameter crater.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it