Visual navigation algorithm based on line geomorphic feature matching for Mars landing

Shao, Wei; Cao, Lei; Guo, Wei; Xie, Jincheng; Gu, Tianhao

doi:10.1016/j.actaastro.2020.04.055

Cited by 11 publications

(3 citation statements)

References 14 publications

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“…Without noise, all reference points should be located along their corresponding projection rays, which are originated from the optical center of the camera. The initial estimation of R and t can be derived using Equation (6).…”

Section: Initial Estimationmentioning

confidence: 99%

“…In robotics, VO is a technique for determining the position and attitude of a robotic vehicle based on 3D-2D feature correspondences extracted from sequential images. As the most common visual textures on the planet surface, point features are widely used for onboard VO in planetary rovers [6]. Without noise, all the 3D points in a determined pose should align with their corresponding 2D projections.…”

Section: Introductionmentioning

confidence: 99%

“…The reference points are randomly distributed in the range of [−q, q] × [−q, q] × [2, 6], where q is the tangent of the field of view (FOV). q is varied from 2 to 12.…”

mentioning

confidence: 99%

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An Innovative Pose Determination Algorithm for Planetary Rover Onboard Visual Odometry

2022

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Planetary rovers play a critical role in space exploration missions, where one of the most fundamental algorithms is pose determination. Due to environmental and computational constraints, real-time pose determinations of planetary rovers can only use low-cost techniques, such as visual odometry. In this paper, by employing the angle-based criterion, a novel pose determination algorithm is proposed for visual odometry, which is suitable for any type of central camera. First, the problem is formulated using the Huber kernel function with respect to the angular residuals. Then, an intermediate coordinate system is introduced between the initial estimation and final refinement. In order to avoid being trapped in periodic local minimums, a linear method is used to further align the reference points between the intermediate and camera coordinate systems. Finally, one step refinement is implemented to optimize pose determinations. The theoretical analysis, the synthetic simulations, and the real experiments show that our proposed algorithm can achieve the best accuracies within similar processing times, compared with the most state-of-the-art algorithms, thereby approving the effectiveness of the proposed algorithm used in planetary rover onboard visual odometry.

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Section: Initial Estimationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%