Giubilato, Riccardo und Vayugundla, Mallikarjuna und Schuster, Martin und Stürzl, Wolfgang und Wedler, Armin und Triebel, Rudolph und Debei, Stefano (2020) Relocalization With Submaps: Multi-Session Mapping for Planetary Rovers Equipped With Stereo Cameras. IEEE Robotics and Automation Letters, 5 (2), Seiten 580-587. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/LRA.2020.2964157. ISSN 2377-3766.
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Kurzfassung
To enable long term exploration of extreme environments such as planetary surfaces, heterogeneous robotic teams need the ability to localize themselves on previously built maps. While the Localization and Mapping problem for single sessions can be efficiently solved with many state of the art solutions, place recognition in natural environments still poses great challenges for the perception system of a robotic agent. In this paper we propose a relocalization pipeline which exploits both 3D and visual information from stereo cameras to detect matches across local point clouds of multiple SLAM sessions. Our solution is based on a Bag of Binary Words scheme where binarized SHOT descriptors are enriched with visual cues to recall in a fast and efficient way previously visited places. The proposed relocalization scheme is validated on challenging datasets captured using a planetary rover prototype on Mount Etna, designated as a Moon analogue environment.
elib-URL des Eintrags: | https://elib.dlr.de/133896/ | ||||||||||||||||||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||||||||||||||||||
Titel: | Relocalization With Submaps: Multi-Session Mapping for Planetary Rovers Equipped With Stereo Cameras | ||||||||||||||||||||||||||||||||
Autoren: |
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Datum: | April 2020 | ||||||||||||||||||||||||||||||||
Erschienen in: | IEEE Robotics and Automation Letters | ||||||||||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||||||||||
Band: | 5 | ||||||||||||||||||||||||||||||||
DOI: | 10.1109/LRA.2020.2964157 | ||||||||||||||||||||||||||||||||
Seitenbereich: | Seiten 580-587 | ||||||||||||||||||||||||||||||||
Herausgeber: |
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Verlag: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||||||||||
ISSN: | 2377-3766 | ||||||||||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||||||||||
Stichwörter: | Localization;space robotics and automation;mapping | ||||||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Robotischer Wissenschafts-Explorer | ||||||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Perzeption und Kognition | ||||||||||||||||||||||||||||||||
Hinterlegt von: | Giubilato, Riccardo | ||||||||||||||||||||||||||||||||
Hinterlegt am: | 10 Feb 2020 15:52 | ||||||||||||||||||||||||||||||||
Letzte Änderung: | 28 Nov 2023 07:27 |
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