Long-range Rover Localization by Matching Lidar Scans to Orbital Elevation Maps

• Main Author: Carle, Patrick J. F.
• Other Authors: Barfoot, Timothy D., Aerospace Science and Engineering
• Format: Thesis
• Language: English
• Subjects: localization; mobile robotics; autonomy; space robotics; 0538; Nunavut; Devon Island
• Online Access: http://hdl.handle.net/1807/17497

Current planetary rover localization techniques are lacking in autonomy and accuracy. An autonomous method of globally localizing a rover is proposed by matching features extractedvfrom a 3D orbital elevation map and rover-based 3D lidar scans. Localization can be further improved by including odome...