Mercator—Independent rover localization using stereophotoclinometry and panoramic images | Zendy

Palmer Eric E. | Zendy; Head James N. | Zendy; Gaskell Robert W. | Zendy; Sykes Mark V. | Zendy; McComas Brian | Zendy

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Mercator—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 , computer vision , geology , artificial intelligence , horizon , matching (statistics) , computer science , remote sensing , image matching , geodesy , computer graphics (images) , image (mathematics) , mathematics , geometry , statistics

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.

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