Absolute Map-based Localization for a Planetary Rover
Year: 2013
Type: article
Abstract: Navigating autonomously several kilometers in a plane-tary context without any communication with Earth oper-ators raises several challenges. Among those, precise lo-calization is of essential importance, and the availability of orbital data yields the possibility to estimate absolute position information. This paper proposes an approach that exploits a priori Digital Elevation Maps derived from orbiter data and on-board stereo imagery to estimate the absolute rover position. The approach extends the clas-sic particle-filter based global localization scheme to the context of planetary rovers, where the environment is not structured. The article details the various required func-tions, the way each particle likelihood is evaluated, and means to manage a short number of particles. Experi-mental results illustrates the approach. 1.
Authors: Bach Van Pham, Artur Maligo, Simon Lacroix
Institution: Laboratoire d'Analyse et d'Architecture des Systèmes
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W4299356676