Mars Rover Localization Based on A2G Obstacle Distribution Pattern Matching

원문 초록

Rover localization is one of the perquisites for large scale rover exploration. In NASA's Mars 2020 mission, the Ingenuity helicopter is carried together with the rover, which is capable of obtaining high-resolution imagery of Mars terrain, and it is possible to perform localization based on aerial-to-ground (A2G) imagery correspondence. However, considering the low-texture nature of the Mars terrain, and large perspective changes between UAV and rover imagery, traditional image matching methods will struggle to obtain valid image correspondence. In this paper we propose a novel pipeline for Mars rover localization. An algorithm combing image-based rock detection and rock distribution pattern matching is used to acquire A2G imagery correspondence, thus establishing the rover position in a UAV-generated ground map. Feasibility of this method is evaluated on sample data from a Mars analogue environment. The proposed method can serve as a reliable assist in future Mars missions.