特徴の少ない地形における惑星探査ローバのビジュアルオドメトリ法

DOI Web Site 被引用文献2件 参考文献17件

書誌事項

タイトル別名
  • Visual Odometry for Planetary Exploration Rovers in Untextured Terrains
  • トクチョウ ノ スクナイ チケイ ニ オケル ワクセイ タンサ ローバ ノ ビジュアルオドメトリホウ

この論文をさがす

説明

As of today, several rovers have been deployed on planetary surfaces and provided astonishing scientific achievements. A significant challenge in future missions is accurate localization for long distances to expand the activity range. After the successful Mars Exploration Rovers mission, visual odometry is regarded as a promising technique to provide accurate pose estimates on planetary surfaces. However, it should address the problem of terrain dependency since it cannot estimate motion in the terrain where visual features are lacked. This paper proposes a visual odometry system for untextured natural terrain which is devoid of features. Several key techniques are presented including a scheme for terrain-adaptive feature detection, and a motion estimation method using fewer feature points. The feasibility of the proposed techniques is supported by the field tests in a volcanic field using a test-bed rover.

収録刊行物

被引用文献 (2)*注記

もっと見る

参考文献 (17)*注記

もっと見る

関連プロジェクト

もっと見る

キーワード

詳細情報 詳細情報について

問題の指摘

ページトップへ