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

doi:10.1117/12.2242871

11 July 2016 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

Proceedings Volume 10011, First International Workshop on Pattern Recognition; 100111M (2016) https://doi.org/10.1117/12.2242871
Event: First International Workshop on Pattern Recognition, 2016, Tokyo, Japan

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.

Citation Download Citation

Mickaël Laîné, Silvia Cruciani, Emanuele Palazzolo, Nathan J. Britton, Xavier Cavarelli, and Kazuya Yoshida "Navigation system for a small size lunar exploration rover with a monocular omnidirectional camera", Proc. SPIE 10011, First International Workshop on Pattern Recognition, 100111M (11 July 2016); https://doi.org/10.1117/12.2242871

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available