This paper introduces an advanced rover localization system suitable for autonomous planetary exploration in the absence of Global Positioning System (GPS) infrastructure. Given an existing terrain map (image and elevation) obtained from satellite imagery and the images provided by the rover stereo camera system, the proposed method determines the best rover location through visual odometry, 3D terrain and hori- zon matching. The system is tested on data retrieved from a 3 km traverse of the Basalt Hills quarry in California where the GPS track is used as ground truth. Experimental results show the system presented here reduces by over 60 the localization error obtained by wheel odometry.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Planetary Rover Localization Within Orbital Maps


    Contributors:
    Nefian, A. V. (author) / Bouyssounouse, X. (author) / Edwards, L. (author) / Kim, T. (author) / Hand, E. (author) / Rhizor, J. (author) / Deans, M. (author) / Bebis, George (author) / Fong, T. (author) / Dille, Michael (author)

    Conference:

    IEEE The International Conference on Image Processing (ICIP) ; 2014 ; Paris, France


    Publication date :

    2014-10-27


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




    Rover Self Localization in Planetary-Like Environments

    Lacroix, S. / Mallet, A. / Chatila, R. et al. | British Library Conference Proceedings | 1999


    Planetary Rover Localisation via Surface and Orbital Image Matching

    Franchi, Valerio / Ntagiou, Evridiki | IEEE | 2022


    Planetary rover

    LIU FEI / HE CHUNQIAO / LIANG PENG et al. | European Patent Office | 2015

    Free access


    SMC Rover: Planetary Rover with Transformable Wheels

    Kawakami, A. / Torii, A. / Motomura, K. et al. | Springer Verlag | 2003