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Communication Dans Un Congrès Année : 2023

Non-Recovering Field-of-View Imaging-Based SLAM for Lava Tubes Exploration

Alex Torres
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Résumé

Visual Odometry (VO) has emerged as the go-to navigation solution for space missions, providing a reliable and efficient means of estimating the motion and state of unmanned vehicles. Recently, the exploration of potential extraterrestrial lava tubes has garnered significant attention within space agencies, presenting a captivating challenge in applied robotics. Navigating through these unique environments demands a wide Field-of-View (FoV) to efficiently catch information on the majority of the surroundings; however, most of rovers are equipped with narrow FoV stereo-vision configurations for direct mapping, traversability estimation and navigation. Conventional earth-based approaches to expand the FoV often prove unsuitable for space applications due to power, processing, or technical constraints. In this paper, we propose an innovative solution: indirect bi-monocular VO with a non-recovering FoV in order to make the most effective use of available camera pixels. Leveraging sliding-window optimisation techniques, we aim to overcome the inherent difficulties in accurately estimating scale in displacement and environment. Our approach paves the way for achieving robust scale-aware navigation in a non-overlapping camera configuration, opening new frontiers for space exploration methodologies in extraterrestrial lava tubes.
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Dates et versions

hal-04248151 , version 1 (19-10-2023)

Identifiants

  • HAL Id : hal-04248151 , version 1

Citer

César Debeunne, Damien Vivet, Alex Torres. Non-Recovering Field-of-View Imaging-Based SLAM for Lava Tubes Exploration. 17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), ESA, Oct 2023, Leiden (NL), Netherlands. ⟨hal-04248151⟩
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