相关论文: MarsLGPR: Mars Rover Localization with Ground Pene…
In this field report, we detail the lessons learned from our field expedition to collect Ground Penetrating Radar (GPR) data in a Mars analog environment for the purpose of validating GPR localization techniques in rugged environments.…
We address the problem of robot localization using ground penetrating radar (GPR) sensors. Current approaches for localization with GPR sensors require a priori maps of the system's environment as well as access to approximate global…
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,…
Planetary exploration using aerial assets has the potential for unprecedented scientific discoveries on Mars. While NASA's Mars helicopter Ingenuity proved flight in Martian atmosphere is possible, future Mars rotorcraft will require…
Terrain classification is an important problem for mobile robots operating in extreme environments as it can aid downstream tasks such as autonomous navigation and planning. While RGB cameras are widely used for terrain identification,…
Ground-penetrating radar (GPR) is a mature geophysical method that has gained increasing popularity in planetary science over the past decade. GPR has been utilised both for Lunar and Martian missions providing pivotal information regarding…
Highly accurate real-time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision-based systems to avoid hazards as well as plan safe…
Onboard localization capabilities for planetary rovers to date have used relative navigation, by integrating combinations of wheel odometry, visual odometry, and inertial measurements during each drive to track position relative to the…
When performing robot/vehicle localization using ground penetrating radar (GPR) to handle adverse weather and environmental conditions, existing techniques often struggle to accurately estimate distances when processing B-scan images with…
There has been exciting recent progress in using radar as a sensor for robot navigation due to its increased robustness to varying environmental conditions. However, within these different radar perception systems, ground penetrating radar…
Permanently Shadowed Regions (PSRs) near the lunar poles are of interest for future exploration due to their potential to contain water ice and preserve geological records. Their complex, uneven terrain favors the use of legged robots,…
We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…
Localization of robots using subsurface features observed by ground-penetrating radar (GPR) enhances and adds robustness to common sensor modalities, as subsurface features are less affected by weather, seasons, and surface changes. We…
Ground penetrating radar (GPR) based localization has gained significant recognition in robotics due to its ability to detect stable subsurface features, offering advantages in environments where traditional sensors like cameras and LiDAR…
We present a method for image-guided exploration for mobile robotic systems. Our approach extends ergodic exploration methods, a recent exploration approach that prioritizes complete coverage of a space, with the use of a learned image…
We consider the problem of vision-based 6-DoF object pose estimation in the context of the notional Mars Sample Return campaign, in which a robotic arm would need to localize multiple objects of interest for low-clearance pickup and…
In the future, extraterrestrial expeditions will not only be conducted by rovers but also by flying robots. The technical demonstration drone Ingenuity, that just landed on Mars, will mark the beginning of a new era of exploration…
We consider the problem of rover relocalization in the context of the notional Mars Sample Return campaign. In this campaign, a rover (R1) needs to be capable of autonomously navigating and localizing itself within an area of approximately…
Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-terrain interaction. Heuristics like occupancy grids or…
Space exploration has witnessed revolutionary changes upon landing of the Perseverance Rover on the Martian surface and demonstrating the first flight beyond Earth by the Mars helicopter, Ingenuity. During their mission on Mars,…