Visual Odometry Aided by a Sun Sensor and an Inclinometer

• Main Author: Lambert, Andrew
• Other Authors: Barfoot, Timothy D., Aerospace Science and Engineering
• Format: Thesis
• Language: English
• Subjects: Aerospace; Robotics; Visual Odometry; Sun Sensor; 0538; 0771; Arctic; Devon Island
• Online Access: http://hdl.handle.net/1807/31292

Due to the absence of any satellite-based global positioning system on Mars, the Mars Exploration Rovers commonly track position changes of the vehicle using a technique called visual odometry (VO), where updated rover poses are determined by tracking keypoints between stereo image pairs. Unfortunat...