论文标题
部分可观测时空混沌系统的无模型预测
Mars Rover Localization Based on A2G Obstacle Distribution Pattern Matching
论文作者
论文摘要
漫游者定位是大规模漫游者勘探的候选物之一。在NASA的2020年火星2020年的任务中，Ingenition直升机与漫游者一起携带，该直升机能够获得火星地形的高分辨率图像，并且可以基于空中对地面（A2G）图像对应关系进行定位。但是，考虑到火星地形的低文字性质以及无人机和漫游者图像之间的巨大视角变化，传统的图像匹配方法将难以获得有效的图像对应关系。在本文中，我们提出了一条新型的火星流动站定位管道。一种基于图像的岩石检测和岩石分布模式匹配的算法用于获取A2G图像对应关系，从而在无人机生成的地面图中建立了流动站的位置。该方法的可行性在火星模拟环境中的样本数据上进行评估。提出的方法可以在未来的火星任务中提供可靠的帮助。
Rover localization is one of the perquisites for large scale rover exploration. In NASA's Mars 2020 mission, the Ingenuity helicopter is carried together with the rover, which is capable of obtaining high-resolution imagery of Mars terrain, and it is possible to perform localization based on aerial-to-ground (A2G) imagery correspondence. However, considering the low-texture nature of the Mars terrain, and large perspective changes between UAV and rover imagery, traditional image matching methods will struggle to obtain valid image correspondence. In this paper we propose a novel pipeline for Mars rover localization. An algorithm combing image-based rock detection and rock distribution pattern matching is used to acquire A2G imagery correspondence, thus establishing the rover position in a UAV-generated ground map. Feasibility of this method is evaluated on sample data from a Mars analogue environment. The proposed method can serve as a reliable assist in future Mars missions.
