@inproceedings{b07992a5795f4bc6a9791c7f2d9d1c45,
title = "Navigation system for a small size lunar exploration rover with a monocular omnidirectional camera",
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.",
keywords = "SLAM, Space Robotics, Visual Odometry",
author = "Micka{\"e}l La{\^i}n{\'e} and Silvia Cruciani and Emanuele Palazzolo and Britton, {Nathan J.} and Xavier Cavarelli and Kazuya Yoshida",
note = "Publisher Copyright: {\textcopyright} 2016 SPIE.; 1st International Workshop on Pattern Recognition ; Conference date: 11-05-2016 Through 13-05-2016",
year = "2016",
doi = "10.1117/12.2242871",
language = "English",
series = "Proceedings of SPIE - The International Society for Optical Engineering",
publisher = "SPIE",
editor = "Xudong Jiang and Guojian Chen and Chiharu Ishii and Genci Capi",
booktitle = "First International Workshop on Pattern Recognition",
}