11 July 2016 Navigation system for a small size lunar exploration rover with a monocular omnidirectional camera
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Proceedings Volume 10011, First International Workshop on Pattern Recognition; 100111M (2016) https://doi.org/10.1117/12.2242871
Event: First International Workshop on Pattern Recognition, 2016, Tokyo, Japan
Abstract
A lunar rover requires an accurate localisation system in order to operate in an uninhabited environment. However, every additional piece of equipment mounted on it drastically increases the overall cost of the mission. This paper reports a possible solution for a micro-rover using a sole monocular omnidirectional camera. Our approach relies on a combination of feature tracking and template matching for Visual Odometry. The results are afterwards refined using a Graph-Based SLAM algorithm, which also provides a sparse reconstruction of the terrain. We tested the algorithm on a lunar rover prototype in a lunar analogue environment and the experiments show that the estimated trajectory is accurate and the combination with the template matching algorithm allows an otherwise poor detection of spot turns.
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Mickaël Laîné, Silvia Cruciani, Emanuele Palazzolo, Nathan J. Britton, Xavier Cavarelli, Kazuya Yoshida, "Navigation system for a small size lunar exploration rover with a monocular omnidirectional camera", Proc. SPIE 10011, First International Workshop on Pattern Recognition, 100111M (11 July 2016); doi: 10.1117/12.2242871; https://doi.org/10.1117/12.2242871
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