Navigation system for a small size lunar exploration rover with a monocular omnidirectional camera

Mickaël Laîné, Silvia Cruciani, Emanuele Palazzolo, Nathan J. Britton, Xavier Cavarelli, Kazuya Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

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.

Original languageEnglish
Title of host publicationFirst International Workshop on Pattern Recognition
EditorsXudong Jiang, Guojian Chen, Chiharu Ishii, Genci Capi
PublisherSPIE
ISBN (Electronic)9781510604308
DOIs
Publication statusPublished - 2016
Event1st International Workshop on Pattern Recognition - Tokyo, Japan
Duration: 2016 May 112016 May 13

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
Volume10011
ISSN (Print)0277-786X
ISSN (Electronic)1996-756X

Other

Other1st International Workshop on Pattern Recognition
CountryJapan
CityTokyo
Period16/5/1116/5/13

Keywords

  • SLAM
  • Space Robotics
  • Visual Odometry

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering

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