Open AccessMercator—Independent rover localization using stereophotoclinometry and panoramic images
Author(s) -
Palmer Eric E.,
Head James N.,
Gaskell Robert W.,
Sykes Mark V.,
McComas Brian
Publication year - 2016
Publication title -
earth and space science
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.843
H-Index - 23
ISSN - 2333-5084
DOI - 10.1002/2016ea000189
Subject(s) - mercator projection , geology , horizon , computer science , computer vision , matching (statistics) , remote sensing , artificial intelligence , geodesy , computer graphics (images) , mathematics , statistics , geometry
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.