| Presentation | 2014-05-23 A Localization Method for Planetary Exploration Rovers using Cameras and Direction Sensors Kyohei OTSU, Masatsugu OTSUKI, Takashi KUBOTA, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Robotic surface exploration is a key strategy for future lunar or planetary missions. The ability of localization is important for exploration rovers since it will enhance safe and efficient mission operations. The conventional dead-reckoning methods that rely on wheel encoders and inertial measurements are prone to error in uneven terrain of planetary surfaces. This paper proposes an integrated localization system using vision sensors and absolute direction sensors. The performance of the proposed localization system was studied through the field experiments on a four-wheeled test-bed rover operated in a terrestrial analogue. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Planetary Exploration Rover / Localization / Visual Odometry |
| Paper # | SANE2014-11 |
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| Conference Information | |
| Committee | SANE |
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| Conference Date | 2014/5/16(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Space, Aeronautical and Navigational Electronics (SANE) |
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| Language | ENG |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | A Localization Method for Planetary Exploration Rovers using Cameras and Direction Sensors |
| Sub Title (in English) | |
| Keyword(1) | Planetary Exploration Rover |
| Keyword(2) | Localization |
| Keyword(3) | Visual Odometry |
| 1st Author's Name | Kyohei OTSU |
| 1st Author's Affiliation | The University of Tokyo() |
| 2nd Author's Name | Masatsugu OTSUKI |
| 2nd Author's Affiliation | ISAS/JAXA |
| 3rd Author's Name | Takashi KUBOTA |
| 3rd Author's Affiliation | ISAS/JAXA |
| Date | 2014-05-23 |
| Paper # | SANE2014-11 |
| Volume (vol) | vol.114 |
| Number (no) | 48 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |