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Lunar Rover Localization Using Craters as Landmarks. (arXiv:2203.10073v1 [cs.RO])
March 21, 2022, 1:12 a.m. | Larry Matthies, Shreyansh Daftry, Scott Tepsuporn, Yang Cheng, Deegan Atha, R. Michael Swan, Sanjna Ravichandar, Masahiro Ono
cs.LG updates on arXiv.org arxiv.org
Onboard localization capabilities for planetary rovers to date have used
relative navigation, by integrating combinations of wheel odometry, visual
odometry, and inertial measurements during each drive to track position
relative to the start of each drive. At the end of each drive, a
ground-in-the-loop (GITL) interaction is used to get a position update from
human operators in a more global reference frame, by matching images or local
maps from onboard the rover to orbital reconnaissance images or maps of a …
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