Long‐range rover localization by matching LIDAR scans to orbital elevation maps
Abstract Current rover localization techniques such as visual odometry have proven to be very effective on short‐ to medium‐length traverses (e.g., up to a few kilometers). This paper deals with the problem of long‐range rover localization (e.g., 10 km and up) by developing an algorithm named MOGA (...
Published in: | Journal of Field Robotics |
---|---|
Main Authors: | , , |
Format: | Article in Journal/Newspaper |
Language: | English |
Published: |
Wiley
2010
|
Subjects: | |
Online Access: | http://dx.doi.org/10.1002/rob.20336 https://api.wiley.com/onlinelibrary/tdm/v1/articles/10.1002%2Frob.20336 https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20336 |
id |
crwiley:10.1002/rob.20336 |
---|---|
record_format |
openpolar |
spelling |
crwiley:10.1002/rob.20336 2024-06-23T07:52:21+00:00 Long‐range rover localization by matching LIDAR scans to orbital elevation maps Carle, Patrick J.F. Furgale, Paul T. Barfoot, Timothy D. 2010 http://dx.doi.org/10.1002/rob.20336 https://api.wiley.com/onlinelibrary/tdm/v1/articles/10.1002%2Frob.20336 https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20336 en eng Wiley http://onlinelibrary.wiley.com/termsAndConditions#vor Journal of Field Robotics volume 27, issue 3, page 344-370 ISSN 1556-4959 1556-4967 journal-article 2010 crwiley https://doi.org/10.1002/rob.20336 2024-06-11T04:43:05Z Abstract Current rover localization techniques such as visual odometry have proven to be very effective on short‐ to medium‐length traverses (e.g., up to a few kilometers). This paper deals with the problem of long‐range rover localization (e.g., 10 km and up) by developing an algorithm named MOGA (Multi‐frame Odometry‐compensated Global Alignment). This algorithm is designed to globally localize a rover by matching features detected from a three‐dimensional (3D) orbital elevation map to features from rover‐based, 3D LIDAR scans. The accuracy and efficiency of MOGA are enhanced with visual odometry and inclinometer/sun‐sensor orientation measurements. The methodology was tested with real data, including 37 LIDAR scans of terrain from a Mars–Moon analog site on Devon Island, Nunavut. When a scan contained a sufficient number of good topographic features, localization produced position errors of no more than 100 m, of which most were less than 50 m and some even as low as a few meters. Results were compared to and shown to outperform VIPER, a competing global localization algorithm that was given the same initial conditions as MOGA. On a 10‐km traverse, MOGA's localization estimates were shown to significantly outperform visual odometry estimates. This paper shows how the developed algorithm can be used to accurately and autonomously localize a rover over long‐range traverses. © 2010 Wiley Periodicals, Inc. Article in Journal/Newspaper Devon Island Nunavut Wiley Online Library Devon Island ENVELOPE(-88.000,-88.000,75.252,75.252) Nunavut Journal of Field Robotics 27 3 344 370 |
institution |
Open Polar |
collection |
Wiley Online Library |
op_collection_id |
crwiley |
language |
English |
description |
Abstract Current rover localization techniques such as visual odometry have proven to be very effective on short‐ to medium‐length traverses (e.g., up to a few kilometers). This paper deals with the problem of long‐range rover localization (e.g., 10 km and up) by developing an algorithm named MOGA (Multi‐frame Odometry‐compensated Global Alignment). This algorithm is designed to globally localize a rover by matching features detected from a three‐dimensional (3D) orbital elevation map to features from rover‐based, 3D LIDAR scans. The accuracy and efficiency of MOGA are enhanced with visual odometry and inclinometer/sun‐sensor orientation measurements. The methodology was tested with real data, including 37 LIDAR scans of terrain from a Mars–Moon analog site on Devon Island, Nunavut. When a scan contained a sufficient number of good topographic features, localization produced position errors of no more than 100 m, of which most were less than 50 m and some even as low as a few meters. Results were compared to and shown to outperform VIPER, a competing global localization algorithm that was given the same initial conditions as MOGA. On a 10‐km traverse, MOGA's localization estimates were shown to significantly outperform visual odometry estimates. This paper shows how the developed algorithm can be used to accurately and autonomously localize a rover over long‐range traverses. © 2010 Wiley Periodicals, Inc. |
format |
Article in Journal/Newspaper |
author |
Carle, Patrick J.F. Furgale, Paul T. Barfoot, Timothy D. |
spellingShingle |
Carle, Patrick J.F. Furgale, Paul T. Barfoot, Timothy D. Long‐range rover localization by matching LIDAR scans to orbital elevation maps |
author_facet |
Carle, Patrick J.F. Furgale, Paul T. Barfoot, Timothy D. |
author_sort |
Carle, Patrick J.F. |
title |
Long‐range rover localization by matching LIDAR scans to orbital elevation maps |
title_short |
Long‐range rover localization by matching LIDAR scans to orbital elevation maps |
title_full |
Long‐range rover localization by matching LIDAR scans to orbital elevation maps |
title_fullStr |
Long‐range rover localization by matching LIDAR scans to orbital elevation maps |
title_full_unstemmed |
Long‐range rover localization by matching LIDAR scans to orbital elevation maps |
title_sort |
long‐range rover localization by matching lidar scans to orbital elevation maps |
publisher |
Wiley |
publishDate |
2010 |
url |
http://dx.doi.org/10.1002/rob.20336 https://api.wiley.com/onlinelibrary/tdm/v1/articles/10.1002%2Frob.20336 https://onlinelibrary.wiley.com/doi/pdf/10.1002/rob.20336 |
long_lat |
ENVELOPE(-88.000,-88.000,75.252,75.252) |
geographic |
Devon Island Nunavut |
geographic_facet |
Devon Island Nunavut |
genre |
Devon Island Nunavut |
genre_facet |
Devon Island Nunavut |
op_source |
Journal of Field Robotics volume 27, issue 3, page 344-370 ISSN 1556-4959 1556-4967 |
op_rights |
http://onlinelibrary.wiley.com/termsAndConditions#vor |
op_doi |
https://doi.org/10.1002/rob.20336 |
container_title |
Journal of Field Robotics |
container_volume |
27 |
container_issue |
3 |
container_start_page |
344 |
op_container_end_page |
370 |
_version_ |
1802643634279940096 |