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.
Domaines
Robotique [cs.RO]
Origine : Fichiers produits par l'(les) auteur(s)
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