Fast vision-based localization for a mars airplane

Kentaro Arai, Hidemasa Takamura, Hiroka Inoue, Masahiro Ono, Shuichi Adachi

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the SICE Annual Conference
出版社Society of Instrument and Control Engineers (SICE)
ページ1449-1455
ページ数7
ISBN(電子版)9784907764463
DOI
出版ステータスPublished - 2014 10 23
イベント2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014 - Sapporo, Japan
継続期間: 2014 9 92014 9 12

出版物シリーズ

名前Proceedings of the SICE Annual Conference

Other

Other2014 53rd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2014
国/地域Japan
CitySapporo
Period14/9/914/9/12

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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