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Space exploration has witnessed revolutionary changes upon landing of thePerseverance Rover on the Martian surface and demonstrating the first flightbeyond Earth by the Mars helicopter, Ingenuity. During their mission on Mars,Perseverance Rover and Ingenuity collaboratively explore the Martian surface,where Ingenuity scouts terrain information for rover's safe traversability.Hence, determining the relative poses between both the platforms is ofparamount importance for the success of this mission. Driven by this necessity,this work proposes a robust relative localization system based on a fusion ofneuromorphic vision-based measurements (NVBMs) and inertial measurements. Theemergence of neuromorphic vision triggered a paradigm shift in the computervision community, due to its unique working principle delineated withasynchronous events triggered by variations of light intensities occurring inthe scene. This implies that observations cannot be acquired in static scenesdue to illumination invariance. To circumvent this limitation, high frequencyactive landmarks are inserted in the scene to guarantee consistent eventfiring. These landmarks are adopted as salient features to facilitate relativelocalization. A novel event-based landmark identification algorithm usingGaussian Mixture Models (GMM) is developed for matching the landmarkscorrespondences formulating our NVBMs. The NVBMs are fused with inertialmeasurements in proposed state estimators, landmark tracking Kalman filter(LTKF) and translation decoupled Kalman filter (TDKF) for landmark tracking andrelative localization, respectively. The proposed system was tested in avariety of experiments and has outperformed state-of-the-art approaches inaccuracy and range.

A Neuromorphic Vision-Based Measurement for Robust Relative Localization in Future Space Exploration Missions