In a potential Mars sample return mission, a Mars rover is required to visit previously explored and mapped environments in order to retrieve previously collected samples for subsequent return to Earth. In such a mission, the rover needs to establish its position within a provided map to safely and efficiently plan a path toward the goal locations. In this work, we study the feasibility and performance of aerial-to-ground (A2G) localization of the Mars rover by registering rover’s ground imagery to an aerial map of a Mars analogue environment. Through empirical experiments at the Jet Propulsion Laboratory’s Mars Yard, we present performance, robustness and sensitivity analysis for A2G localization in varying lighting conditions, viewing angles, terrain types and using different image feature detectors and descriptors.


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    Title :

    Rover Localization in Mars Helicopter Aerial Maps: Experimental Results in a Mars-Analogue Environment


    Additional title:

    Springer Proceedings in Advanced Robotics


    Contributors:

    Conference:

    International Symposium on Experimental Robotics ; 2018 ; Buenos Aires, Argentina November 05, 2018 - November 08, 2018



    Publication date :

    2020-01-23


    Size :

    13 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English






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