论文标题
Vulcan Centaur：朝着Lunar Rovers的端到端实时感知
Vulcan Centaur: towards end-to-end real-time perception in lunar rovers
论文作者
论文摘要
我们在行星漫游者的背景下引入了一条新的实时管道，用于同时定位和映射（SLAM）和视觉惯性探测器（VIO）。我们利用着陆器位置的先前信息提出了一种对象级别的大满贯方法，该方法将优化着陆器的姿势和形状以及漫游者的摄像头轨迹优化。作为进一步的完善步骤，我们建议在相邻的时间样本之间使用插值技术。 Videlicet合成不存在的图像，以提高系统的整体准确性。这些实验是在Iris Lunar Rover的背景下进行的。
We introduce a new real-time pipeline for Simultaneous Localization and Mapping (SLAM) and Visual Inertial Odometry (VIO) in the context of planetary rovers. We leverage prior information of the location of the lander to propose an object-level SLAM approach that optimizes pose and shape of the lander together with camera trajectories of the rover. As a further refinement step, we propose to use techniques of interpolation between adjacent temporal samples; videlicet synthesizing non-existing images to improve the overall accuracy of the system. The experiments are conducted in the context of the Iris Lunar Rover, a nano-rover that will be deployed in lunar terrain in 2021 as the flagship of Carnegie Mellon, being the first unmanned rover of America to be on the Moon.
