Paper Info
Title
Appearance-Based Along-Route Localization For Planetary Missions
Abstract
We propose an appearance-based along-route localization algorithm that relies on robust place recognition by matching image sequences instead of individual frames. Our approach extends state of the art place recognition framework SeqSLAM in several aspects to realize real-time localization along routes for autonomous navigation. First, our method is online in that we only rely on the recently observed image frames. Second, we provide a homing mechanism based on rotations computed from frame matches. And third, we use a more flexible mechanism to search for matching locations, not restricting the search to straight lines in the cost matrix as in SeqSLAM, but allowing for a wide variety of route traversal conditions such as varying velocities or rotational and translational viewpoint differences. We investigate different image preprocessing steps as well as image similarity metrics wrt. their influence on illumination and viewpoint invariance for a more robust place recognition. On a new challenging dataset, recorded in real world experiments with a planetary rover, in the course of a Moon-analogue mission on Sicily's Mount Etna, we show the feasibility of our direct, sequence-based approach to along-route localization.
Year
DOI
Venue
2018
10.1109/IROS.2018.8594518
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Keywords
Field
DocType
mobile robotics, field robotics, place-recognition, autonomous route navigation
Computer vision,Tree traversal,Cost matrix,Invariant (physics),Computer science,Visualization,Planetary missions,Appearance based,Preprocessor,Artificial intelligence,Simultaneous localization and mapping
Conference
ISSN
Citations 
PageRank 
2153-0858
0
0.34
References 
Authors
0
4
Name
Order
Citations
PageRank
Iris Grixa140.83
Philipp Schulz200.34
Wolfgang Stürzl35910.23
Rudolph Triebel471158.20