Stereo vision for planetary rovers: stochastic modeling to near real-time implementation
International Journal of Computer Vision
Fusing Points and Lines for High Performance Tracking
ICCV '05 Proceedings of the Tenth IEEE International Conference on Computer Vision - Volume 2
Two years of Visual Odometry on the Mars Exploration Rovers: Field Reports
Journal of Field Robotics - Special Issue on Space Robotics
International Journal of Computer Vision
Speeded-Up Robust Features (SURF)
Computer Vision and Image Understanding
Long-range rover localization by matching LIDAR scans to orbital elevation maps
Journal of Field Robotics
Vast-scale Outdoor Navigation Using Adaptive Relative Bundle Adjustment
International Journal of Robotics Research
Visual teach and repeat for long-range rover autonomy
Journal of Field Robotics - Visual Mapping and Navigation Outdoors
RSLAM: A System for Large-Scale Mapping in Constant-Time Using Stereo
International Journal of Computer Vision
Visual odometry aided by a sun sensor and inclinometer
AERO '11 Proceedings of the 2011 IEEE Aerospace Conference
Machine learning for high-speed corner detection
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
The Devon Island rover navigation dataset
International Journal of Robotics Research
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In this paper, we present a novel approach to planetary rover localization that incorporates sun sensor and inclinometer data directly into a stereo visual odometry pipeline. Utilizing the absolute orientation information provided by the sun sensor and inclinometer significantly reduces the error growth of the visual odometry path estimate. The measurements have very low computation, power, and mass requirements, providing localization improvement at nearly negligible cost. We describe the mathematical formulation of error terms for the stereo camera, sun sensor, and inclinometer measurements, as well as the bundle adjustment framework for determining the maximum likelihood vehicle transformation. Extensive results are presented from experimental trials utilizing data collected during a 10-km traversal of a Mars analogue site on Devon Island in the Canadian high Arctic. We also illustrate how our approach can be used to reduce the computational burden of visual odometry for planetary exploration missions. © 2012 Wiley Periodicals, Inc. © 2012 Wiley Periodicals, Inc.