/Mapping and Positioning for a Prototype Lunar Rover

Mapping and Positioning for a Prototype Lunar Rover

Eric Krotkov and Martial Hebert
Conference Paper, IEEE International Conference on Robotics and Automation, Vol. 3, pp. 2913-2919, May, 1995

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In this paper, we describe practical, effective approaches to outdoor mapping and positioning, and present results from systems implemented for a prototype lunar rover. For mapping, we have developed a binocular head and mounted it on a motion-averaging mast. This head provides images to a normalized correlation matcher, that intelligently selects what part of the image to process (saving time), and subsamples the images (again saving time) without subsampling disparities (which would reduce accuracy). The mapping system has operated successfully during long-duration field exercises, processing streams of thousands of images. The positioning system employs encoders, inclinometers, a compass, and a turn-rate sensor to maintain the position and orientation of the rover as it traverses. The system succeeds in the face of significant sensor noise by virtue of sensor modelling, plus extensive filtering and data screening.

BibTeX Reference
author = {Eric Krotkov and Martial Hebert},
title = {Mapping and Positioning for a Prototype Lunar Rover},
booktitle = {IEEE International Conference on Robotics and Automation},
year = {1995},
month = {May},
volume = {3},
pages = {2913-2919},