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Appearance-based Along-route Localization for Planetary Missions

Grixa, Iris Lynne and Schulz, Philipp and Stürzl, Wolfgang and Triebel, Rudolph (2018) Appearance-based Along-route Localization for Planetary Missions. In: IEEE International Conference on Intelligent Robots and Systems. IROS 2018, 01-05 Oct 2018, Madrid.

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We propose an appearance-based along-route localization algorithm that relies on robust place recognition by matching image sequences instead of individual frames. Our approach extends state of the art place recognition framework SeqSLAM in several aspects to realize real-time localization along routes for autonomous navigation. First, our method is online in that we only rely on the recently observed image frames. Second, we provide a homing mechanism based on rotations computed from frame matches. And third, we use a more flexible mechanism to search for matching locations, not restricting the search to straight lines in the cost matrix as in SeqSLAM, but allowing for a wide variety of route traversal conditions such as varying velocities or rotational and translational viewpoint differences. We investigate different image preprocessing steps as well as image similarity metrics wrt. their influence on illumination and viewpoint invariance for a more robust place recognition. On a new challenging dataset, recorded in real world experiments with a planetary rover, in the course of a Moon-analogue mission on Sicily's Mount Etna, we show the feasibility of our direct, sequence-based approach to along-route localization.

Item URL in elib:https://elib.dlr.de/126317/
Document Type:Conference or Workshop Item (Speech)
Title:Appearance-based Along-route Localization for Planetary Missions
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Grixa, Iris LynneIris.Grixa (at) dlr.deUNSPECIFIED
Schulz, PhilippPhilipp.Schulz (at) dlr.deUNSPECIFIED
Stürzl, WolfgangWolfgang.Stuerzl (at) dlr.deUNSPECIFIED
Triebel, RudolphRudolph.Triebel (at) dlr.deUNSPECIFIED
Journal or Publication Title:IEEE International Conference on Intelligent Robots and Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:mobile robotics, field robotics, place-recognition, autonomous route navigation
Event Title:IROS 2018
Event Location:Madrid
Event Type:international Conference
Event Dates:01-05 Oct 2018
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Multisensory World Modelling (E3D OS) [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Stürzl, Wolfgang
Deposited On:04 Mar 2019 09:47
Last Modified:31 Jul 2019 20:24

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