A New Method for Real-Time High-Precision Planetary Rover Localization and Topographic Mapping
Localization of the rover and mapping of the surrounding terrain with high precision is critical to surface operations in planetary rover missions, such as rover traverse planning, hazard avoidance, and target approaching.It is also desirable for a future planetary rover to have real-time self-localization and mapping capabilities so that it can traverse longer distance and acquire more science data.In this research, we have developed a real-time high-precision me thod for planetary rover localization and topographic mapping.High precision localization is achieved through a new visual odometry (VO) algorithm based on bundle adjustment of an image network with adaptive selection of geometric key frames (GKFs).Local topographic mapping products are generated simul taneously in real time based on the localization results.Continuous topographic products of the entire traverse area are generated offline.Field experimental re suits demonstrate the effectiveness and high-precision of the proposed method.
Planetary Rover Real-Time Localization Topographic Mapping Bundle adjustment Geometric key frame
Wenhui Wan Zhaoqin Liu Kaichang Di
Institute of Remote Sensing Applications, Chinese Academy of Sciences P.O.Box 9718, Datun Road, Chaoyang District, Beijing 100101, P.R.China
国际会议
第八届图像图形技术与应用学术会议(8th Conference on Image and Graphics Technologies and Applications)(IGTA2013)
北京
英文
215-222
2013-04-02（万方平台首次上网日期，不代表论文的发表时间）