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http://dx.doi.org/10.5139/JKSAS.2018.46.6.479

Stereo Semi-direct Visual Odometry with Adaptive Motion Prior Weights of Lunar Exploration Rover  

Jung, Jae Hyung (Department of Mechanical and Aerospace Engineering /ASRI Seoul National University)
Heo, Se Jong (Department of Mechanical and Aerospace Engineering /ASRI Seoul National University)
Park, Chan Gook (Department of Mechanical and Aerospace Engineering /ASRI Seoul National University)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.46, no.6, 2018 , pp. 479-486 More about this Journal
Abstract
In order to ensure reliable navigation performance of a lunar exploration rover, navigation algorithms using additional sensors such as inertial measurement units and cameras are essential on lunar surface in the absence of a global navigation satellite system. Unprecedentedly, Visual Odometry (VO) using a stereo camera has been successfully implemented at the US Mars rovers. In this paper, we estimate the 6-DOF pose of the lunar exploration rover from gray images of a lunar-like terrains. The proposed algorithm estimates relative pose of consecutive images by sparse image alignment based semi-direct VO. In order to overcome vulnerability to non-linearity of direct VO, we add adaptive motion prior weights calculated from a linear function of the previous pose to the optimization cost function. The proposed algorithm is verified in lunar-like terrain dataset recorded by Toronto University reflecting the characteristics of the actual lunar environment.
Keywords
Visual Odometry; Weighted Nonlinear Optimization; Lunar Exploration Rover;
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