[en] Robotics navigation on the lunar surface is crucial for future lunar prospection missions. Visual Simultaneous Localisation And Mapping (vSLAM) bears several advantages over traditional Simultaneous Localisation And Mapping (SLAM) methods, such as mitigating wheel slip and using sensors with space heritage. Still, extreme environments create challenges for optical sensors. This work proposes a qualitative analysis of which elements influence the performance of vSLAM for lunar environments through an experimental approach in an analogue lunar facility.
Research center :
Interdisciplinary Centre for Security, Reliability and Trust (SnT) > SpaceR – Space Robotics
Disciplines :
Aerospace & aeronautics engineering
Author, co-author :
VAN DER MEER, Dave ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics
OLIVARES MENDEZ, Miguel Angel ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics
External co-authors :
no
Language :
English
Title :
COMPARISON STUDY OF THE ACCURACY OF SLAM TECHNIQUES AND SENSOR SELECTION FOR LUNAR EXPLORATION
Lunar exploration multi-sensor [[SLAM]] for long traverse missions
Funders :
FNR - Fonds National de la Recherche
Funding number :
17025341
Funding text :
This research was funded in whole, or in part, by the Luxembourg
National Research Fund (FNR), grant reference
17025341. For the purpose of open access, and in fulfilment
of the obligations arising from the grant agreement,
the author has applied a Creative Commons Attribution
4.0 International (CC BY 4.0) license to any Author Accepted
Manuscript version arising from this submission.
