NDLI: Research on Autonomous Navigation of Lunar Rovers for the Moon Exploration

Content Provider	IEEE Xplore Digital Library
Author	Cui Pingyuan Yue Fuzhan Cui Hutao
Copyright Year	2006
Description	Author affiliation: Deep Space Exploration of Res. Center, Harbin Inst. of Technol., Harbin (Cui Pingyuan; Yue Fuzhan; Cui Hutao)
Abstract	In order to explore the moon more efficiently, it is very important to endow lunar rovers with increased autonomy both for exploration achievement of scientific goals and for safe navigation. In this paper, autonomous navigation techniques for lunar rovers are discussed, and an autonomous navigation scheme is presented. First, algorithm and technique of initial position determination of lunar rovers are introduced. Then, matched-features set is build by multi steps of image processing such as feature detection, feature tracking and feature matching. Based on the analysis of the image processing error, a two-stage estimation algorithm is used to estimate the motion, robust linear motion estimation is executed to estimate the motion initially and to reject the outliers, and Levenberg-Marquardt nonlinear estimation is used to estimate the motion precisely. The sun sensor is used to update the rover's heading periodically for long range navigation. Next, a weighted ZSSD algorithm is presented to estimate the image disparities by analyzing the traditional ZSSD. Finally, a virtual simulation system is constructed using the development tool of Open Inventor, this simulation system can provide stereo images for simulations of stereo vision and motion estimation techniques, simulation results are provided and future research work is addressed in the end.
Starting Page	1042
Ending Page	1047
File Size	7626976
Page Count	6
File Format	PDF
ISBN	142440570X
DOI	10.1109/ROBIO.2006.340372
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-12-17
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Moon Navigation Motion estimation Motion analysis Image processing Computer vision Image analysis Algorithm design and analysis Image motion analysis Estimation error motion estimation Moon exploration lunar rover autonomous navigation stereo vision sun sensor
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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