ShadowNav: Autonomous Global Localization for Lunar Navigation in Darkness

arXiv:2405.01673v1 Announce Type: cross
Abstract: The ability to determine the pose of a rover in an inertial frame autonomously is a crucial capability necessary for the next generation of surface rover missions on other planetary bodies. Currently, most on-going rover missions utilize ground-in-the-loop interventions to manually correct for drift in the pose estimate and this human supervision bottlenecks the distance over which rovers can operate autonomously and carry out scientific measurements. In this paper, we present ShadowNav, an autonomous approach …

abstract arxiv autonomous capability cs.cv cs.ro drift global localization loop navigation next rover surface type