Volume 6, 2013Progress in Flight Dynamics, Guidance, Navigation, Control, Fault Detection, and Avionics
|Page(s)||97 - 120|
|Section||Navigation and estimation|
|Published online||02 December 2013|
Planetary rover navigation: improving visual odometry via additional images and multisensor fusion
Department of Communication, Computer and System Science University of Genoa 13 Via Opera Pia, Genoa 16145, Italy
Visual odometry (VO) is very important for a mobile robot, above all in a planetary scenario, to accurately estimate the rover occurred motion. The present work deals with the possibility to improve a previously developed VO technique by means of additional image processing, together with suitable mechanisms such as the classical Extended/Iterated Kalman Filtering and also Sequence Estimators. The possible employment of both techniques is then addressed and, consequently, a better behaving integration scheme is proposed. Moreover, the eventuality of exploiting other localization sensors is also investigated, leading to a final multisensor scheme.
© Owned by the authors, published by EDP Sciences, 2013
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 2.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.