Design of a bi-monocular Visual Odometry System for Lava Tubes exploration
Résumé
With the discovery of potential extra terrestrial Lava Tubes, their exploration has become a hot topic for space agencies. Autonomous robots are needed to answer many questions that are raised by their discovery. We propose in this paper to discuss the design of a feasible and performing Visual Odometry (VO) solution to enable a safe navigation for spatial rovers in such environment. For this, we propose a modular bimonocular indirect approach adapted to every camera model while keeping the processing load as low as possible. This paper presents an experimental study in a self illuminated cave environment. We focus on keypoint / descriptor pairs, feature association modalities and camera models. We show results on both real and simulated scenario to enhance the comprehension of methods widely used in the robotic community and their adaptation to such environment. Results from these experiments will be used to design a visual based navigation adapted for extra terrestrial Lava Tubes exploration.
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