2000 character limit reached
ShadowNav: Autonomous Global Localization for Lunar Navigation in Darkness (2405.01673v3)
Published 2 May 2024 in cs.RO and cs.CV
Abstract: The ability to determine the pose of a rover in an inertial frame autonomously is a crucial capability necessary for the next generation of surface rover missions on other planetary bodies. Currently, most on-going rover missions utilize ground-in-the-loop interventions to manually correct for drift in the pose estimate and this human supervision bottlenecks the distance over which rovers can operate autonomously and carry out scientific measurements. In this paper, we present ShadowNav, an autonomous approach for global localization on the Moon with an emphasis on driving in darkness and at nighttime. Our approach uses the leading edge of Lunar craters as landmarks and a particle filtering approach is used to associate detected craters with known ones on an offboard map. We discuss the key design decisions in developing the ShadowNav framework for use with a Lunar rover concept equipped with a stereo camera and an external illumination source. Finally, we demonstrate the efficacy of our proposed approach in both a Lunar simulation environment and on data collected during a field test at Cinder Lakes, Arizona.
- A tutorial on particle filters for online nonlinear/non-Gaussian Bayesian tracking. IEEE Transactions on Signal Processing, 50(2):174–188.
- Satellite constellation design for a lunar navigation and communication system. NAVIGATION, 70(4).
- ShadowNav: Crater-based localization for nighttime and Permanently Shadowed Region Lunar navigation. In IEEE Aerospace Conference.
- Lunar Reconnaissance Orbiter camera permanently shadowed region imaging – atlas and controlled mosaics. In Lunar and Planetary Science Conference.
- Assessment of single satellite-based lunar positioning for the NASA Endurance Mission. In IEEE Aerospace Conference.
- Approaches for validation of lighting environments in realtime Lunar South Pole simulations. In IEEE Aerospace Conference.
- LunarNav: Crater-based localization for long-range autonomous rover navigation. In IEEE Aerospace Conference.
- Planetary rover localisation via surface and orbital image matching. In IEEE Aerospace Conference.
- Hapke, B. (2002). Bidirectional reflectance spectroscopy: 5. the coherent backscatter opposition effect and anisotropic scattering. Icarus, 157(2):523–534.
- Hapke, B. (2012). Theory of reflectance and emittance spectroscopy. Cambridge Univ. Press.
- How old are young lunar craters? Journal of Geophysical Research, 117(12):1–15.
- Hirschmuller, H. (2007). Stereo processing by semiglobal matching and mutual information. IEEE Transactions on Pattern Analysis & Machine Intelligence, 30(2):328–341.
- Integration of orbital and ground image networks for the automation of rover localization. In American Society for Photogrammetry and Remote Sensing Annual Conference.
- Robust and efficient stereo feature tracking for visual odometry. In Proc. IEEE Conf. on Robotics and Automation.
- Endurance: Lunar South Pole-Atken Basin traverse and sample return rover. Technical report, National Academy Press.
- Klear, M. R. (2018). PyCDA: An open-source library for automated crater detection. In Planetary Crater Consortium.
- Kogan, D. mrcal. http://mrcal.secretsauce.net.
- Independent optical navigation processing for the OSIRIS-REx mission using the Goddard Image Analysis and Navigation Tool. In RPI Space Imaging Workshop.
- Two years of visual odometry on the Mars Exploration Rovers. Journal of Field Robotics, 24(3):169–186.
- Visual odometry thinking while driving for the Curiosity Mars rover’s three-year test campaign: Impact of evolving constraints on verification and validation. In IEEE Aerospace Conference.
- Lunar rover localization using craters as landmarks. In IEEE Aerospace Conference.
- INSPIRE (IN situ Solar system Polar Ice Roving Explorer): A mission concept study from the Decadal Survey for Planetary Science and Astrobiology 2022–2032. Technical report, National Academy Press.
- Origins, worlds, and life: A decadal strategy for planetary science and astrobiology 2023–2032. Technical report, National Academy Press.
- Intrepid planetary mission concept study report. Technical report, National Academy Press.
- Lunar Reconnaissance Orbiter (LROC) camera instrument overview. Space Science Reviews, 150.
- A taxonomy and evaluation of dense two-frame stereo correspondence algorithms. In Proc. IEEE Workshop on on Stereo and Multi-Baseline Vision.
- Efficiency of BRDF sampling and bias on the average photometric behavior. Icarus, 317:10–26.
- Lunar crater identification via deep learning. Icarus, 317:27–38.
- Optical navigation for lunar landing based on convolutional neural network crater detector. Aerospace Science and Technology, 123:107503.
- Results from the first year and a half of Mars 2020 robotic operations. In IEEE Aerospace Conference.
- Autonomous robotics is driving Perseverance rover’s progress on Mars. Science Robotics, 8(80):1–12.
- Comparison of crater-detection algorithms for terrain-relative navigation. In AIAA Conf. on Guidance, Navigation and Control.
- Absolute localization through orbital maps and surface perspective imagery: A synthetic lunar dataset and neural network approach. In IEEE/RSJ Int. Conf. on Intelligent Robots & Systems.
- Photometric correction of Chang’E-1 interference imaging spectrometer’s (IIM) limited observing geometries data with Hapke model. Remote Sensing, 12(22):3676.
- Contrast limited adaptive histogram equalization based enhancement for real time video system. In Proc. IEEE Int. Conf. on Advances in Computing, Communications and Informatics .
- Domain-invariant stereo matching networks. In European Conf. on Computer Vision.