Mercator—Independent rover localization using stereophotoclinometry and panoramic images

• Published in: Earth and space science (Hoboken, N.J.) Vol. 3; no. 12; pp. 488 - 509
• Main Authors: Palmer, Eric E., Head, James N., Gaskell, Robert W., Sykes, Mark V., McComas, Brian
• Format: Journal Article
• Language: English
• Published: Hoboken John Wiley & Sons, Inc 01-12-2016
• Subjects: Algorithms; Astronauts; Automation; Automobiles; Cameras; Cost control; Documentation; Geodetics; Global positioning systems; GPS; localization; mapping; Moon; Navigation; rover; Science; stereophotoclinometry; topography; Vehicles
• ISSN: 2333-5084; 2333-5084
• DOI: 10.1002/2016EA000189

We present a navigation technique for a lunar vehicle based upon matching horizon imagery with a database of synthetic panoramas generated from ultrahigh‐resolution topographic models created by stereophotoclinometry. We conducted two tests, one with lunar topography and fully synthetic panoramas, and another using Earth‐based data and actual panoramic images. We have shown that the horizon‐matching technique can search a wide area for a vehicle's location and determine that location to within 6 m using readily available imagery.
Plain Language Summary
We demonstrate that topography generated from images can be used to fix a rover's position by matching horizon imagery with a database of synthetic panoramas
Key Points
Stereophotoclinometry and horizon matching can determine position
This technology provides independent navigation to rovers and landers
This technology can reduce risk and cost to missions to the surface of other planets and moons