A new method for real-time high-precision planetary rover localization and topographic mapping

Abstract

Localization of the rover and mapping of the surrounding terrain with high precision is critical to surface operations in planetary rover missions, such as rover traverse planning, hazard avoidance, and target approaching. It is also desirable for a future planetary rover to have real-time self-localization and mapping capabilities so that it can traverse longer distance and acquire more science data. In this research, we have developed a real-time high-precision method for planetary rover localization and topographic mapping. High precision localization is achieved through a new visual odometry (VO) algorithm based on bundle adjustment of an image network with adaptive selection of geometric key frames (GKFs). Local topographic mapping products are generated simultaneously in real time based on the localization results. Continuous topographic products of the entire traverse area are generated offline. Field experimental results demonstrate the effectiveness and high-precision of the proposed method. © Springer-Verlag Berlin Heidelberg 2013.