Navigation System for a Small Size Lunar Exploration Rover With a Monocular Omnidirectional Camera
2016 (English)In: Proc. of SPIE Vol. 10011, 100111M, SPIE - International Society for Optical Engineering, 2016Conference paper (Refereed)
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. Ourapproach relies on a combination of feature tracking and template matching for Visual Odometry. The resultsare afterwards re ned using a Graph-Based SLAM algorithm, which also provides a sparse reconstruction of theterrain. We tested the algorithm on a lunar rover prototype in a lunar analogue environment and the experimentsshow that the estimated trajectory is accurate and the combination with the template matching algorithm allowsan otherwise poor detection of spot turns.
Place, publisher, year, edition, pages
SPIE - International Society for Optical Engineering, 2016.
IdentifiersURN: urn:nbn:se:kth:diva-189738DOI: 10.1117/12.2242871OAI: oai:DiVA.org:kth-189738DiVA: diva2:948508
First International Workshop on Pattern Recognition, edited by Xudong Jiang, Guojian Chen, Genci Capi, Chiharu Ishii
QC 201607142016-07-122016-07-122016-07-14Bibliographically approved