Mars Rover Localization Based on A2G Obstacle Distribution Pattern Matching. (arXiv:2210.03398v1 [cs.CV])

Rover localization is one of the perquisites for large scale rover
exploration. In NASA's Mars 2020 mission, the Ingenuity helicopter is carried
together with the rover, which is capable of obtaining high-resolution imagery
of Mars terrain, and it is possible to perform localization based on
aerial-to-ground (A2G) imagery correspondence. However, considering the
low-texture nature of the Mars terrain, and large perspective changes between
UAV and rover imagery, traditional image matching methods will struggle to
obtain valid image correspondence. In this …

arxiv distribution localization mars rover