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Communication Dans Un Congrès Année : 2013

Absolute Map-Based Localization for a Planetary Rover

Résumé

Navigating autonomously several kilometers in a planetary context without any communication with Earth operators raises several challenges. Among those, precise localization 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 classic particle-filter based global localization scheme to the context of planetary rovers, where the environment is not structured. The article details the various required functions, the way each particle likelihood is evaluated, and means to manage a short number of particles. Experimental results illustrates the approach.
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Dates et versions

hal-01020989 , version 1 (08-07-2014)

Identifiants

  • HAL Id : hal-01020989 , version 1

Citer

Bach van Pham, Artur Maligo, Simon Lacroix. Absolute Map-Based Localization for a Planetary Rover. 12th Sympusium on Advanced Space Technologies and Automation in Robotics, May 2013, Noordwijk, Netherlands. pp.1-8. ⟨hal-01020989⟩
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