Research and ground validation based on the visual positioning methods for rover in deep space exploration

doi:10.13474/j.cnki.11-2246.2022.0293

Abstract

Abstract: Rovers are commonly used in deep space exploration missions and it is important to develop the ability for autonomous navigation and positioning of rovers. In this paper, a typical visual simultaneous localization and mapping (SLAM) technique for navigation and positioning is studied. Firstly, the general visual-SLAM framework is summarized and the well-known ORB-SLAM3 method is introduced to evaluate its effectiveness for the deep space exploration missions. In addition to the public datasets, a simulated ground test field for extraterrestrial environment is built and the corresponding datasets are further used to validate the possible application for visual-SLAM methods in Lunar and deep space explorations. This study can help to expand the applications of the state of art SLAM methods and also support the following long-distance rover exploration tasks for China's missions.

Key words: ORB-SLAM3, deep space exploration, visual positioning, SLAM, stereo vision

CLC Number:

P228

CEN Wenguang, XU Xiong, WANG Guojian, XIAO Changjiang. Research and ground validation based on the visual positioning methods for rover in deep space exploration[J]. Bulletin of Surveying and Mapping, 2022, 0(10): 49-55.

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