TY - GEN
T1 - Fast vision-based localization for a mars airplane
AU - Arai, Kentaro
AU - Takamura, Hidemasa
AU - Inoue, Hiroka
AU - Ono, Masahiro
AU - Adachi, Shuichi
PY - 2014/10/23
Y1 - 2014/10/23
N2 - Mars airplane is one of the candidate payloads of JAXA's next Mars exploration program. Airborne observation of Mars is expected to fill the 'gap' between rovers, which provides a detailed observation but a limited area of coverage, and orbiters, which can cover a wide range of area but with a limited resolution. Two key challenges to realize a Mars airplane are 1) unavailability of GPS for localization and 2) limited computing power due to tight restriction on the mass of on-board instrument. We address these issues by developing a computationally tractable vision-based navigation algorithm. Our approach is based on an efficient feature detector and descriptor, Oriented FAST and Rotated BRIEF (ORB), combined with the information from an inertial measurement unit (IMU) using the extended Kalman filter (EKF) method. In this paper, we demonstrate the proposed ORB/EKF-based localization method by indoor experiments, using a small quadrotor helicopter and Mars surface image from Mars Reconnaissance Orbiter. The experimental results indicate that the computational cost of the proposed method is sufficiently small for real-time processing.
AB - Mars airplane is one of the candidate payloads of JAXA's next Mars exploration program. Airborne observation of Mars is expected to fill the 'gap' between rovers, which provides a detailed observation but a limited area of coverage, and orbiters, which can cover a wide range of area but with a limited resolution. Two key challenges to realize a Mars airplane are 1) unavailability of GPS for localization and 2) limited computing power due to tight restriction on the mass of on-board instrument. We address these issues by developing a computationally tractable vision-based navigation algorithm. Our approach is based on an efficient feature detector and descriptor, Oriented FAST and Rotated BRIEF (ORB), combined with the information from an inertial measurement unit (IMU) using the extended Kalman filter (EKF) method. In this paper, we demonstrate the proposed ORB/EKF-based localization method by indoor experiments, using a small quadrotor helicopter and Mars surface image from Mars Reconnaissance Orbiter. The experimental results indicate that the computational cost of the proposed method is sufficiently small for real-time processing.
KW - Mars airplane
KW - Terrain relative navigation
KW - extended Kalman filter
UR - http://www.scopus.com/inward/record.url?scp=84911939363&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84911939363&partnerID=8YFLogxK
U2 - 10.1109/SICE.2014.6935277
DO - 10.1109/SICE.2014.6935277
M3 - Conference contribution
AN - SCOPUS:84911939363
T3 - Proceedings of the SICE Annual Conference
SP - 1449
EP - 1455
BT - Proceedings of the SICE Annual Conference
PB - Society of Instrument and Control Engineers (SICE)
T2 - 2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014
Y2 - 9 September 2014 through 12 September 2014
ER -