English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

In the future, extraterrestrial expeditions will not only be conducted byrovers but also by flying robots. The technical demonstration drone Ingenuity,that just landed on Mars, will mark the beginning of a new era of explorationunhindered by terrain traversability. Robust self-localization is crucial forthat. Cameras that are lightweight, cheap and information-rich sensors arealready used to estimate the ego-motion of vehicles. However, methods proven towork in man-made environments cannot simply be deployed on other planets. Thehighly repetitive textures present in the wastelands of Mars pose a hugechallenge to descriptor matching based approaches.  In this paper, we present an advanced robust monocular odometry algorithmthat uses efficient optical flow tracking to obtain feature correspondencesbetween images and a refined keyframe selection criterion. In contrast to mostother approaches, our framework can also handle rotation-only motions that areparticularly challenging for monocular odometry systems. Furthermore, wepresent a novel approach to estimate the current risk of scale drift based on aprincipal component analysis of the relative translation information matrix.This way we obtain an implicit measure of uncertainty. We evaluate the validityof our approach on all sequences of a challenging real-world dataset capturedin a Mars-like environment and show that it outperforms state-of-the-artapproaches.

Towards Robust Monocular Visual Odometry for Flying Robots on Planetary Missions