High-Fidelity Planetary Route Determination Using Computationally Efficient Monocular Fisheye Odometry and Sun Compass

Abstract

Accurate route determination is essential for robotic exploration on other planetary bodies. Today’s rovers are limited in their speed and autonomy due to the computational expense of current route determination methodologies. Small, high-cadence, minimalist rovers with greater autonomy are poised to break new ground by expanding exploration capabilities. The ability to quickly and efficiently estimate a rover’s route becomes even more crucial as the size, mass, computation, and power budgets continue to shrink. This thesis develops a computationally efficient method for planetary route determination using a downward-facing monocular fisheye camera for visual odometry and a sun compass for a measure of absolute bearing. The method is tested in a series of lunar analog field experiments and shows the viability of such an approach. This research lays the groundwork that will enable safer, faster, and smarter navigation for the planetary rovers of tomorrow.