A Bayes network based classifier for distinguishing terrestrial rocks from meteorites is implemented onboard the Nomad robot. Equipped with a camera, spectrometer and eddy current sensor, this robot searched the ice sheets of Antarctica and autonomously made the first robotic identification of a meteorite, in January 2000 at the Elephant Moraine. This paper discusses rock classification from a robotic platform, and describes the system onboard Nomad.

That navigation system, called SemExp, last month won the Habitat ObjectNav Challenge during the virtual Computer Vision and Pattern Recognition conference, edging a team from Samsung Research China. It was the second consecutive first-place finish for the CMU team in the annual challenge. SemExp, or Goal-Oriented Semantic Exploration, uses machine learning to train a robot to recognize objects -- knowing the difference between a kitchen table and an end table, for instance -- and to understand where in a home such objects are likely to be found. This enables the system to think strategically about how to search for something, said Devendra S. Chaplot, a Ph.D. student in CMU's Machine Learning Department. "Common sense says that if you're looking for a refrigerator, you'd better go to the kitchen," Chaplot said.

A Bayes network based classifier for distinguishing terrestrial rocks from meteorites is implemented onboard the Nomad robot. Equipped with a camera, spectrometer and eddy current sensor, this robot searched the ice sheets of Antarctica and autonomously made the first robotic identification of a meteorite, in January 2000 at the Elephant Moraine. This paper discusses rock classification from a robotic platform, and describes the system onboard Nomad. 1 Introduction Figure 1: Human meteorite search with snowmobiles on the Antarctic ice sheets, and on foot in the moraines. Antarctica contains the most fertile meteorite hunting grounds on Earth. The pristine, dry and cold environment ensures that meteorites deposited there are preserved for long periods.

Antarctica contains the most fertile meteorite hunting grounds on Earth. The pristine, dry and cold environment ensures that meteorites deposited there are preserved for long periods. Subsequent glacial flow of the ice sheets where they land concentrates them in particular areas. To date, most meteorites recovered throughout history have been done so in Antarctica in the last 20 years. Furthermore, they are less likely to be contaminated by terrestrial compounds.

Antarctica contains the most fertile meteorite hunting grounds on Earth. The pristine, dry and cold environment ensures that meteorites deposited there are preserved for long periods. Subsequent glacial flow of the ice sheets where they land concentrates them in particular areas. To date, most meteorites recovered throughout history have been done so in Antarctica in the last 20 years. Furthermore, they are less likely to be contaminated by terrestrial compounds.